Modular electro-mechanical agent

ABSTRACT

A modular electro-mechanical agent having a plurality of modules including mechanical and electrical components, that can be constructed to complete at least one pre-determined task and/or contribute in performing the at least one pre-determined task. The electro-mechanical agent can include extension modules and can be altered as per user preference to add, eliminate or modify any features of the agent for completing and/or participating in a plurality of pre-determined tasks.

CROSS REFERENCE TO RELATED APPLICATIONS

None.

BACKGROUND

The present teachings relate to an electro-mechanical agent. Morespecifically, the present teachings relate to an electro-mechanicalagent that can be configured to form an expandable modular constructionsystem, apparatus of the electro-mechanical agent, and method forconstructing one or more electro-mechanical agents such as a robot froma set of modular components.

Global education structure has gradually shifted from what was a purelyacademic and textual/knowledge based system to a compound system derivedfrom a strategic blend of curricular and co-curricular activities.Inter-school, inter-college and even inter-state student's competitionsin various disciplines, serve as a fine platform for application ofacademic learning since applied-skills are hard to develop at aninstitutional environment. Technology-driven companies and researchorganizations take active interests in creating such opportunities whichnot only develop scientific temperament in participants but also reducethe industry-academic gap in terms of exposing students to latesttechnical tools and helping organizations fish out bright brains thatcan be nurtured from an early stage.

For over a decade now, robotic competitions have taken the spot-lightamongst other technical competitions across various countries. Thecompetition mainly involves rapid robot building from limited componentssuch that the finished robot is enabled to complete one or more assignedtasks. The tasks can differ from one age group to another. Typically, anolder age group is assigned a more complex task than a youngerage-group, thus increasing the expectation of building a more versatilerobot. Most robotic construction kits comprise inter-connectablecomponents to form a base which can be expanded for providing additionalfeatures depending upon the task assigned to the robot. Distinct set ofcomponents, in the form of a kit, can be provided to respective agegroups. For example, a set of components designed and/or marketed for ayounger age group is more likely to introduce students to basicengineering concepts and tools, in a lucid manner, than a set ofcomponents designed for older age groups. Such sets can comprise fewerparts with minimum need of assistive components. An example of a starterkit can be a LEGO™ mind storms EV3 kit that comprises less complexcomponents. Such starter kits aim at invoking the participants to applytheir preliminary engineering knowledge and/or intuitive thinking forconstructing and functioning of the robot. Construction sets forparticipants belonging to a higher age group can include higher numberof components with increase in complexity of assembling and functioningof these components. Additionally, these components can be customized bythe participants such that they are suitable for the assigned task/s. Aspreviously mentioned, the set of components can be expandable, i.e. theparticipants can add, eliminate and/or modify the components to provideadditional features to the robot for making it suitable for one or moreassigned tasks. The nature of these assigned tasks can be varied. Forthe purpose of describing construction and functioning of theelectro-mechanical agent, some of the potential assigned tasks have beendiscussed in this specification. One of the assigned tasks can be tocarry a certain number of objects from a first location to a secondlocation and the robot may be required to follow a certain path forperforming this function within a specified time and/or within aspecified area. For such a task the robot can use line-following sensorsalong with target object detection sensors to complete the assignedtask. Yet another example of an assigned task can be to make the robotproceed from a start point to an end point with a number of obstacles inthe path which the robot is required to detect and avoid by altering itsroute or passing over the obstacles without causing any damage to theobstruction or to itself. In such scenarios the robot can use, forexample ultrasonic sensors for obstacle detection. Likewise, the speedand efficiency of a robot can be altered by different types or numbersof gear motors with appropriate gear drives.

Increased interest in robotics and higher participation in relatedcompetitions has created a thriving market for construction setssuitable for every participating age group. Each participant or aparticipating team needs an inexpensive construction kit including fewerparts with no compromise on efficiency, load bearing or programmingcapabilities. A higher complexity in the task increases the cost andnumber of parts that could be required to build the appropriate robot.Most participating teams include students from public schools andhome-schools where funding can be a concern. These students oftenstruggle to obtain financial support for enrollment and purchase of oneor more appropriate construction kits. Not all participating teams getfinancial encouragement from schools. Hence, there stands a need forproviding an inexpensive robot construction kit which can be afforded bythe participating teams or sponsored by the respective institutions. Thedisclosed system and apparatus aims at easing the cost burden forconstruction and operation of an electro-mechanical agent withoutcompromising on the efficiency of each participating component incontributing towards any assigned task/s.

SUMMARY

In accordance with the present teachings, aspects of the currentdisclosure relate to a modular electro-mechanical agent that cancomprise a plurality of modules. The modules can optionally be amechanical component or an electrical component or can be a combinationof a mechanical and an electrical component. The electro-mechanicalagent can be constructed to complete at least one pre-determined taskand/or contribute in performing the at least one pre-determined task.The electro-mechanical agent can further comprise extension modules thatcan be obtained from outside the modular construction system. As aresult, the electro-mechanical agent can be altered as per userpreference to add, eliminate or modify any features of the agent forcompleting and/or participating in a plurality of pre-determined tasks.

The electro-mechanical agent can be configured to be a modularconstruction system that can include, but is not limited to including, aplurality of extrudates that can be configured to operatively engage forforming at least one base-structure and the base-structure furtherconfigured to be expandable using the plurality of fellow modules or theplurality of extension modules. The modular construction system can alsoinclude one or more connectors that can be configured to engage a firstextrudate with a second extrudate from the plurality of extrudates. Theconnectors can be further configured to engage the plurality ofextrudates with one or more fellow modules of the modular constructionsystem and the one or more extension modules, outside the modularconstruction system. Engagement between the various modules, extensionmodules and the connectors can be achieved by way of at least onesubordinating connector that can optionally be a fastener. The fastenerscan comprise a head region which can be inserted and trapped into alongitudinal cavity that can be provided on the extrudate. The fastenercan further include a body that can be connected to the head region andcan extend out of the cavity on insertion of the head region into theextrudate.

A method of the present teachings for making a modular construction kitcan include, but is not limited to including, forming a base having atleast one wheel. The at least one wheel can be attached to the base byat least one shaft collar. The method can further include attaching, byat least one first fastener, at least one mechanical component to thebase. The at least one mechanical component can be driven by a gearsystem, and the gear system can be disposed within a gear carrier. Thegear carrier can be attached by at least one second fastener to thebase. The method can still further include attaching, by at least onethird fastener, at least one printed circuit board to the base. The atleast one printed circuit board can include, but is not limited toincluding, an ESD suppression system, a communications system, and acontroller module. The controller module can direct the at least onewheel and the at least one mechanical component according to commandsreceived by the communications system.

The modular construction kit of the present teachings can include, butis not limited to including, a base having at least one wheel. The atleast one wheel can attach to the base by at least one shaft collar. Themodular construction kit can also include at least one mechanicalcomponent that can be attached, by at least one first fastener, to thebase. The module construction kit can still further include a gearsystem. The gear system can be disposed within a gear carrier, and thegear carrier can be attached to the base by at least one secondfastener. The module construction kit can even still further include atleast one printed circuit board that can be attached by at least onethird fastener to the base. The at least one printed circuit board caninclude, but is not limited to including, an ESD suppression system, acommunications system, and a controller module. The at least onemechanical component can be driven by the at least one wheel, and thecontroller module can direct the at least one wheel and the at least onemechanical component according to commands received by thecommunications system. The modular construction kit can also includeactuators, a current voltage management and measurement system, and atleast one sensor.

The modular construction system can further include, but is not limitedto including, at least one shaft collar which can be a multi-partcomponent. A first part of the shaft collar can comprise a top portionwith a plurality of cantilever features initiating from the top regionand extending away from it such that the cantilever featuressubstantially cover a periphery of the top region. A pathway for a shaftcan be provided in the first part of the shaft collar such that theplurality of cantilever crenellations surrounds the shaft on receivingit along the pathway. The cantilever features can further provideseveral crenellations along its outer surface. A second part of theshaft collar can be configured to couple with the first part and furtherprovide an engaging feature complementing the crenellation on the firstpart. A progressive coupling of the first part and the second part ofthe shaft collar can cause the shaft to be locked inside the pathway.

At least one controller module can be provided in the modularconstruction system. The controller module can be configured to play amediator between a plurality of user interfaces and the mechanicaland/or electrical modules on the system. In some configurations, of thecontroller module of the present teachings, the controller can receiveinstructions from at least one communicator which can interact with theuser-interfaces or instruction generators of the system. Thecommunicator can advance the generated instructions to the controllermodule which can consecutively manage the functioning of the pluralityof modules on the electro-mechanical agent. In some configurations, thecontroller module can communicate with a communicator placed in thevicinity of the controller module or on the electro-mechanical agent andcan communicate through a wireless or cable mode. This communicator canin turn interact with a second communicator placed remotely from theelectro-mechanical agent and close to the user-interfaces or theinstruction generators. In some configurations, of the controllermodule, the processing of the instructions and the electronic executionof the instructions for managing the modules can be performed within thecontroller module. However, in some configurations, the processing ofthe instructions can occur outside the controller module while theelectronic execution can be performed within the controller module. Insome configurations, the modular construction system can comprise asecond communications device that can optionally analyze and/or executeinstructions from at least one communicator and/or user-interfacedevices disposed on or in the vicinity of the electro-mechanical agent.

A method of the present teachings for building and mounting a printedcircuit board with electro-static discharge control can include, but isnot limited to including, mounting at least one diversion diode on theprinted circuit board in the vicinity of at least one connector. The atleast one connector can provide signals to the printed circuit boardfrom a source external to the printed circuit board. The method can alsoinclude cutting at least one suppression point on the printed circuitboard, surrounding the at least one suppression point with a conductivematerial, creating at least one signal channel between the at least onediversion diode and the conductive material surrounding the at least onesuppression point; and mounting, by a conductive fastener through the atleast one suppression point, the printed circuit board on a base.

The printed circuit board with electro-static discharge control of thepresent teachings can include, but is not limited to including, at leastone diversion diode mounted on the printed circuit board in the vicinityof at least one connector. The at least one connector can providesignals to the printed circuit board from a source external to theprinted circuit board. The printed circuit board can also include atleast one suppression point that can be cut on the printed circuitboard. The at least one suppression point can be surrounded with aconductive material. The printed circuit board can still further includeat least one signal channel that can be created between the at least onediversion diode and the conductive material. The printed circuit boardcan also include a conductive fastener that can mount, through the atleast one suppression point, the printed circuit board to a base.

The present teachings of the modular construction system furthercomprise a torque-optimizer which can include a plurality of torqueoptimizing elements. These elements can collectively operate to optimizean incoming torque and advance the resultant torque to at least onedriven module engaged with the torque optimizer. The incoming torque canbe optionally obtained from at least one rotary transmission module thatdirectly interacts with at least one torque optimizing element of thetorque optimizer. In the present teachings the torque optimizing elementcan be but not limited to a spur gear. One or more rotary transmissionmodules that can operate as driving module and interact with at leastone principal gear which can be further surrounded by conditional gears.A plurality of teeth of a principal gear, that can be one of the torqueoptimizing elements, can mesh with a plurality of teeth of surroundingconditional gears, that can also operate as another of the torqueoptimizing elements. Such an arrangement can cause rotation ofconditional gears by way of principal gear. Conditional gears canoptionally be compound gears such that a first part of the conditionalgears can include a first set of teeth that can be distinct from asecond set of teeth present on a second part of the conditional gears.The principal gear can be disposed such that at least one of the firstor the second part of the conditional gears mesh with principal gear.The torque-optimizer configuration can further comprise a ring gearwhich can be configured to surround the conditional gears, the ring gearcan also be one of the torque optimizing elements. The ring gearconfiguration of the present teachings can optionally surround at leastone conditional gear. The ring gear can be disposed to mesh with theteeth of the conditional gears such that this meshing is substantiallydistinct from meshing between the conditional gears and the principalgear. In some configurations, interaction of the conditional gears withthe ring gear can cause the ring gear to rotate about its axis while theconditional gears can rotate about their respective axes andsimultaneously revolve around the principal gear. In someconfigurations, the ring gear can be held stationary while theconditional gears can continue to rotate about their respective axes andcan concurrently revolve around the principal gear, optionally meshingwith principal gear on one side and/or meshing with ring gear on anotherside. The torque optimizer can further comprise an output gear which canbe co-axial with the ring gear, the output gear can further comprise aninner circumference with a set of gear-teeth disposed on the innercircumference. Additionally, the output gear can be configured torotatable engaged with a part of the conditional gears other than thepart that meshes with the principal gear and the ring gear. The outputgear can be engaged with at least one driven component to which theresultant torque is applied.

The torque optimizer of the present teachings can further comprise aplurality of carriers or spacers that can be configured to appropriatelyalign the torque-optimizing elements during operation of the optimizer.In some configurations of the torque-optimizer, the conditional gearscan be substantially cylindrical in shape and comprise at least onenotch on at least one terminal end of the conditional gears. The carrierconfiguration of the present teachings can comprise a first set of discsopposing one another and can be disposed such that each of the discs cansubstantially cover at least one terminal end of conditional gears thatface corresponding carriers. Some configurations of the disc can furthercomprise a plurality of nubs which can be configured to engage inmatching notches of conditional gears. In some configurations, thecarriers can comprise a plurality of nubs along with projections fromopposing discs such that the projections can substantially fill in atleast one gap between adjacent conditional gears. The opposing carriersand their respective projections can mate by way of dowel pins that canbe provided on a first projection and is received in a dowel pin inserton an opposing projection of the mating disc. In some configurations,the carriers can be a single continuous component which can comprise aset of opposing discs that can be connected by at least one bridgingfeature. Each of the bridging features can be surrounded by at least oneconditional gear such that the gear teeth extend away from the bridgingfeature. Such a geometry can cause the carrier to be a single continuouscomponent.

The modular construction system can include a gear motor enclosure thatcan accommodate flexible arrangement of the gears internal to theenclosure, and that is compact. In some configurations, a crown gear canbe included in the gear arrangement. The crown gear can includecontouring on the teeth that can improve engagement with surroundinggears. The crown gear can also include means to impact tolerance duringoperation, for example, the crown gear thickness can be adjusted toadjust the tolerance.

The modular construction system can further include a sensing componentenclosed in a sensor housing that can be mounted on theelectro-mechanical agent. The sensing component can be configured toperform sensing operations such as, but not limited to identifying oneor more target objects and/or an obstacle in vicinity of theelectro-mechanical agent, identifying one or more pathways to allow acontrolled motion of the electro-mechanical agent from a first locationto a second location and/or any kind of change such as but not limitedto, temperature, pressure, voltage or flow measurement, in anenvironment of the modular construction system, such a change can berelated to one or more assigned tasks. Sensing component can be infurther communication with the controller module and/or communicatorand/or communication processor to process, to notify the sensed changein the environment. The controller module and/or communicator and/orsecond communications device can process incoming sensed data and/orchange from the sensing component and can further process such incomingdata so as to issue one or more instructions to a respective moduleand/or extension module of the electro-mechanical agent. The sensorhousing can include, but is not limited to including, a top housing thatcan include a sensor cavity, a power/data jack cavity, and mountingcavities. The top housing can include an upper circuit boardmount/spacer. The sensor housing can include a bottom housing that caninclude mounting hooks, a lower circuit board mount/spacer, and apower/data jack rest. The bottom housing can include a mountingprotrusion. The mounting protrusion can enable mounting of the sensorhousing to connectors and railings described herein.

The electro-mechanical agent can comprise a mobility feature by way ofproviding at least one mobility module. In some configurations, theelectromechanical agent can comprise at least one traction wheel thatcan operate as a mobility module for allowing a user-instructed motionof the electro-mechanical agent. The traction wheel can further causethe electro-mechanical agent to move in at least one pre-determinedpathway without changing direction of the traction wheel. In someconfigurations, the electro-mechanical agent can further comprise atleast one omni-directional wheel. The omni-directional wheel can beconfigured to provide an omni-directional drive feature to theelectro-mechanical agent. Such a feature can be obtained by providing atleast one roller element on one or more frames of the omni-directionalwheels. The roller element/s can be disposed such that an axis of theroller element, about which the roller element can rotate, can besubstantially perpendicular to an axis of the omni-directional wheel,about which a frame of the wheel can rotate. Additionally, rollerelement/s can be disposed such that each of the participating rollerelement/s can independently and uninterruptedly perform its rotationalmotion. Distribution of the roller element/s can be such that theysubstantially occupy a periphery of the at least one frame and canensure a continuous circumference of the omni-directional wheel.

A first configuration of an omni-wheel can comprise a first wheel frameand a second wheel frame that can mate by way of substantially receivingat least one brace member, provided on a first and/or a second wheelframe, into an interval that can be provided on another of the firstand/or second wheel frame. The first and the second wheel frames can befurther configured to provide a roller space wherein at least one rollercan be received. The roller space can be formed by at least one pair offlexible members that can be configured to perform a flexing motion toreceive the roller into its respective roller space, retaining theroller therein. Additionally, the flexible member along with at leastone corresponding brace member can optionally form the roller space. Afirst configuration of the roller can comprise at least one notch on aterminating end of the roller such that at least one nub provided onflexible pillars, can engage with the notch. Such an arrangement cantrap the roller in the roller space, wherein the roller can perform itsrotational motion.

A second configuration of an omni-wheel can comprise a first supportplate and a second support plate with peripheral features and bracemembers that can cause the first support plate to mate with the secondsupport plate. The first support plate and the second support plate canfurther provide a plurality of rollers which can be disposed annularlythere upon. In some configurations, the peripheral features and theannularly disposed rollers can be arranged to provide a substantiallycontinuous periphery to the omni-wheel. One of the many configurationsof roller/s can comprise a roller stem that can form a bone about whichthe roller can perform its rotational motion. The roller stem canfurther comprise stem nubs that can be parked on nub platformsoptionally provided by peripheral features on a first and/or secondsupport plate. In some configurations, the nub platforms can be cratesin which the stem nubs can settle. Mating of a first support plate and asecond support plate can cause the rollers to be retained incorresponding roller space by trapping the stem nubs between at leastone nub platform, belonging to first support plate, and a co-operatingcase, belonging to a brace member of second support plate. A thirdconfiguration of the omni-wheel can comprise a wheel frame with rollerpocket/s configured to retain respective roller/s therein and can beannularly distributed to provide a continuous circumference to theomni-wheel. In some configurations, the roller pockets can be disposedon a first side and a second side of the wheel frame in an offsetmanner. Uninterrupted motion of the roller can be caused by providing atleast one interval between adjacent rollers. These intervals can befilled in by locking pins that can be received therein and canconcurrently lock the rollers in their respective roller pockets. Insome configurations, the omni-wheels can be assembled using anultrasonic welding technique.

Modules of the electro-mechanical agent can include inter-connectablefeatures such as, for example, but not limited to, cavities spaced toenable alignment with components of the electro-mechanical agent.Modules can also include nubs or protrusions that can align with, forexample, extrudate fastener accommodations. Modules such as, forexample, wheels, sprockets, gears, and pulleys can include hole/spokepatterns that can accommodate fastening, alignment, and coordinatedmovement. The pulleys can include alternating protrusions forming thepulley cord channel. The alternating protrusions can enable single pullrelease of a manufacturing mold of the pulley.

Connectors of the electro-mechanical agent can include an indexablebracket including a two-piece connector for variably connecting one ormore modules such that a first module is adjustably engaged with respectto a second module. The two-piece connector can include a first pieceaffixed to the first engaging module. The first piece can include athreaded surface and a generally planar surface. The planar surface canface the first engaging module and the threaded surface can face theincoming second engaging module. The first piece can include aperturesthat can receive fasteners that can aid engagement between the firstpiece and the first module. The indexable bracket can include a secondpiece affixed to the second engaging module. The second piece canvariably engage with the first piece. The second piece can include a topportion and a bottom portion. The top portion can include a hole patternthat can receive at least one insert portion from the second engagingmodule there through. The bottom portion can include at least one slotand a complementing threaded surface configured to mate the firstthreaded surface of the first piece. The slots can accept a remainingportion of the fasteners. A nut can lock the fastener and obtain anengagement between the first piece and the second piece of the two-piececonnector.

Connectors of the electro-mechanical agent can include a servo motorconnector that can include an embedded cavity receiving a servo motor, aframe within the embedded cavity housing the servo motor, peripheralapertures along the peripheral of the frame accommodating the servomotor, alignment nubs, and connecting apertures associated with thealignment nubs. Connectors can include variable angle connectorincluding a first portion and a second portion, the first portionincluding at least one semi-circular aperture and a complementingaperture, the second portion including a plurality of connectingapertures associated with a plurality of alignment nubs. Connectors caninclude a plate including a pattern of dimples, the dimples enablingdrilling of mounting points on the plate, the plate including strapslots.

A method for building and mounting a printed circuit board withelectro-static discharge control can include mounting at least onediversion diode on the printed circuit board in the vicinity of at leastone connector, the at least one connector providing signals to theprinted circuit board from a source external to the printed circuitboard. The method can include cutting at least one suppression point onthe printed circuit board and surrounding the at least one suppressionpoint with a conductive material. The method can include creating atleast one signal channel between the at least one diversion diode andthe conductive material surrounding the at least one suppression point,and mounting, by a conductive fastener through the at least onesuppression point, the printed circuit board on a base.

A printed circuit board with electro-static discharge control caninclude at least one diversion diode mounted on the printed circuitboard in the vicinity of at least one connector, the at least oneconnector providing signals to the printed circuit board from a sourceexternal to the printed circuit board. The printed circuit board caninclude at least one suppression point cut on the printed circuit board,the at least one suppression point being surrounded with a conductivematerial. The printing circuit board can include at least one signalchannel created between the at least one diversion diode and theconductive material, and a conductive fastener mounting, through the atleast one suppression point, the printed circuit board on a base.

The modular construction kit of the present teachings can include a basethat can include extrusions. Mechanical components can be attached by aconnector to the base. The connector can include an indexable bracket.The modular construction kit can include electrical components that canbe attached by connectors to the base, and controller enclosures thatcan be attached by connectors to the base. The controller enclosures caninclude communications systems and controller modules. The controllermodules can direct the electrical components to move the mechanicalcomponents according to commands received by the communications systems.The indexable connector can include a first piece including a firstthreaded surface and an opposite planar surface. The first piece caninclude apertures to receive fasteners. The indexable connector caninclude a second piece that can variably engage with the first piece.The second piece can include a top portion and a bottom portion. The topportion can include a hole pattern, and the bottom portion can includeat least one slot and a second threaded surface that can complementarilymate with the first threaded surface. The modular construction kit canoptionally include sensor enclosures that can be attached by connectorsto the base. The sensor enclosures can include sensors that can sensethe environment in the vicinity of the modular construction kit. Themodular construction kit can include shaft collars attaching mechanicalcomponents to the base. The shaft collars can include a first part and asecond part. The first part can include a head region and a body. Thesecond part can include a locking fixture engaging the body. The bodycan include cantilever crenellations protruding from the head region,and the locking fixture can include a plurality of rings engaging thecrenellations.

BRIEF DESCRIPTION OF THE DRAWINGS

These and other aspects will become more apparent from the followingdetailed description of the various configurations when taken inconjunction with the accompanying drawings:

FIG. 1 is a schematic block diagram of a configuration of the system ofthe present teachings;

FIG. 2 is a schematic block diagram of a configuration of theelectro-mechanical agent of the present teachings;

FIG. 3 is a schematic diagram of a first view of a configuration of theelectro-mechanical agent of the present teachings;

FIG. 4 is a schematic diagram of a second view of a configuration of theelectro-mechanical agent;

FIG. 4A is a schematic diagram of a first sub-assembly of theelectro-mechanical agent of one configuration of the present teachings;

FIGS. 4B-4D are schematic diagrams of a second sub-assembly of theelectro-mechanical agent of the present teachings;

FIGS. 4B-1 through 4B-4 and FIG. 4B-4A are schematic diagrams ofsub-assemblies of the electro-mechanical agent of the present teachings;

FIGS. 4B-2A through 4B-2C are schematic diagrams of exemplary pulleys ofthe present teachings;

FIG. 4B-5 is a schematic diagram of a hex-shaped cavity of the presentteachings;

FIG. 4B-6 is a schematic diagram of a shaft collar with a circular boreand a hex shaft of the present teachings;

FIG. 4D-1 is a schematic diagram of an adapter and bracket of thepresent teachings;

FIGS. 4E and 4F are schematic diagrams of exemplary uses of connectorsof the present teachings;

FIG. 4G-1 is a schematic diagram of the drive shaft bearing of thepresent teachings;

FIG. 4G-2 is a schematic diagram of the through-bore bearing of thepresent teachings;

FIG. 4G-3 is a schematic diagram of the drive shaft bearing of thepresent teachings;

FIG. 4G-4 is a schematic diagram of the servo shaft adapter of thepresent teachings;

FIG. 4G-5 is a schematic diagram of another configuration of thethrough-bore bearing of the present teachings;

FIG. 4G-6 is a schematic diagram of the 10-tooth sprocket of the presentteachings;

FIG. 4G-7 is a schematic diagram of the 15-tooth sprocket of the presentteachings;

FIG. 4G-8 is a schematic diagram of the 20-tooth sprocket of the presentteachings;

FIG. 4G-9 is a schematic diagram of the 54-tooth sprocket of the presentteachings;

FIG. 4G-10 is a schematic diagram of the 26-tooth sprocket of thepresent teachings;

FIG. 4G-11 is a schematic diagram of the 40-tooth sprocket of thepresent teachings;

FIG. 4G-12 is a schematic diagram of the 15-tooth gear of the presentteachings;

FIG. 4G-13 is a schematic diagram of the 30-tooth gear of the presentteachings;

FIG. 4G-14 is a schematic diagram of the 125-tooth gear of the presentteachings;

FIG. 4G-14A is a schematic diagram of a second configuration of the125-tooth gear of the present teachings;

FIG. 4G-15 is a schematic diagram of the 45-tooth gear of the presentteachings;

FIG. 4G-16 is a schematic diagram of the 60-tooth gear of the presentteachings;

FIG. 4G-17 is a schematic diagram of the 72-tooth gear of the presentteachings;

FIG. 4G-18 is a schematic diagram of the 90-tooth gear of the presentteachings;

FIG. 4G-19 is a schematic diagram of the 15-tooth servo motor gear ofthe present teachings;

FIG. 5 is a schematic diagram of a first view a configuration of theelectro-mechanical agent comprising omni-directional wheels;

FIG. 6 is a schematic diagram of a second view of a configuration of theelectro-mechanical agent comprising omni-directional wheels;

FIGS. 6A-6C are schematic diagrams of a traction wheel of the presentteachings;

FIGS. 6D-6U are schematic diagrams of omni-directional wheels of thepresent teachings;

FIGS. 6U-1 through 6U-15 are schematic diagrams of omni-directionalwheels of the present teachings;

FIGS. 6V and 6V-1 are schematic diagrams of a 30 mm wheel and tire ofthe present teachings;

FIGS. 6W and 6W-1 are schematic diagrams of a 60 mm wheel and tire ofthe present teachings;

FIGS. 6X and 6X-1 are schematic diagrams of a 90 mm wheel and tire ofthe present teachings;

FIG. 6X-2 is a schematic diagram of a tire of the present teachings;

FIG. 7 is a perspective view of a configuration of a torque-optimizer ofthe present teachings;

FIG. 8 is an exploded view of a configuration of the torque-optimizershown in FIG. 7;

FIG. 9 is a perspective view of a configuration of the gear drive androtary transmission module in the torque-optimizer of the presentteachings;

FIG. 10 is an exploded view of the gear drive, including carriers, inthe torque-optimizer shown in FIG. 9;

FIG. 11 is another exploded view of the gear drive including thecarriers, shown in FIG. 10;

FIG. 12 is yet another view of the carriers shown in the exploded viewof the gear drive in FIG. 10;

FIG. 12A is a perspective view of the gear carrier of the presentconfiguration;

FIG. 13 is an exploded view of another configuration of carriers and theconditional gears in the torque-optimizer of the present teachings;

FIG. 14 is a cross-section view of the gear drive with carrierconfigurations shown in FIG. 13;

FIG. 15 is a representative view of a configuration of the gear driveincluded in the torque-optimizer of the present teachings;

FIG. 15A is a perspective view of a second configuration of thegearmotor of present teachings;

FIG. 15A-1 is a perspective view of a third configuration of thegearmotor of present teachings;

FIG. 15B is an exploded perspective view of the second configuration ofthe gearmotor as shown in FIG. 15A;

FIG. 15C is a perspective view of gear drive and motor of the gearmotoras shown in FIG. 15B;

FIG. 15C-1 is a perspective view of another configuration of the geardrive and motor of the gearmotor of the present teachings;

FIG. 15D is a perspective view of gear drive as shown in FIG. 15C;

FIG. 15E is an exploded perspective view of gear drive as shown in FIG.15D;

FIG. 15E-1 is an exploded perspective view of another configuration ofthe gear drive of the present teachings;

FIG. 15E-2 is a perspective view of another configurations of the geardrive of the present teachings;

FIG. 15F is a perspective view of a second configuration of the geardrive that can be accommodated within the gearmotor enclosure depictedin FIG. 15A;

FIG. 15G is an exploded view of the second configuration of the geardrive as depicted in FIG. 15F;

FIG. 15G-1 is a perspective view of the crown gear of the presentteachings;

FIG. 15H is a perspective view of a first position of a second exemplarygearmotor;

FIG. 15I is a perspective view of a second position of the secondexemplary gearmotor;

FIG. 15J is a perspective view of a possible positioning of thepotentiometer of the present teachings;

FIG. 15K is an exploded, perspective view of the potentiometer of thepresent teachings;

FIG. 15L is a perspective view of the potentiometer shaft mount of thepresent teachings;

FIG. 15M is a perspective view of the potentiometer upper housing of thepresent teachings;

FIG. 15N is a perspective view of the potentiometer sensor mount of thepresent teachings;

FIG. 15O is a perspective view of the potentiometer lower housing of thepresent teachings;

FIG. 16 is a first view of an enclosure configuration of the controllermodule of the present teachings;

FIG. 17 is a second view of the enclosure configuration of thecontroller module of the present teachings;

FIG. 18 is an exploded view of the enclosure configuration of thecontroller module in the present teachings;

FIG. 19 is a detailed view of the enclosure configuration of thecontroller module in the FIG. 18, focusing on the electrostaticdischarge suppression features provided on the electronics board and theenclosure;

FIG. 19A is a perspective view of the printed circuit board having ESDfeatures of the present teachings;

FIG. 20 is a perspective view of a configuration of a plurality of thecontroller modules of the present teachings;

FIG. 21 is a detailed view of the plurality of controller modules asdepicted in FIG. 20, focusing on a stack-ability aspect of theenclosures;

FIGS. 21A-21G are perspective views of the controller enclosure of thepresent teachings;

FIG. 21H is a perspective view of the controller module of the presentteachings;

FIG. 21I is a perspective view of an exemplary communications board ofthe present teachings;

FIG. 22 is a perspective view of a configuration of the sensor housingof the present teachings;

FIG. 23 is an exploded view of the configuration of the sensor housingshown in FIG. 22;

FIG. 24 is another view of the configuration of the sensor housing shownin FIG. 22, focusing on aligning nubs provided on the base surface;

FIG. 25 is a perspective view of another configuration of the sensorhousing of the present teachings;

FIG. 26 is an exploded view of the configuration of the sensor housingshown in FIG. 25;

FIG. 27 is a base view of the configuration of the sensor housing shownin FIG. 26, focusing on the aligning nibs provided on the base surface;

FIG. 27A-1 is a perspective view of the third example sensorconfiguration of the present teachings;

FIG. 27A-2 is an exploded, perspective view of the third example sensorconfiguration of the present teachings;

FIG. 27A-3 is a perspective view of the third example lower housing ofthe present teachings;

FIG. 27A-4 is a perspective view of the third example upper housing ofthe present teachings;

FIG. 27A-5 is a perspective view of the sensor circuitry of the presentteachings;

FIG. 28 is a perspective view of a configuration of the engagementassembly, including a grasping tool, of the present teachings;

FIG. 29 is an exploded view of the configuration of the engagementassembly including a grasping tool shown in FIG. 28;

FIG. 30 is a perspective view of a configuration of the engagementassembly including the grasping tool employed to engage a target object;

FIG. 31 is a perspective view of the configuration of the engagementassembly including the grasping tool shown in FIG. 30, and focusing onan internal gear arrangement of the engagement assembly;

FIG. 32A is a perspective view of a configuration of the shaft collar ofthe present teachings;

FIG. 32B is a detailed view of the shaft collar shown in FIG. 32A,focusing on the engagement of the shaft collar and a shaft;

FIG. 32C is a perspective view of a plurality of the shaft collar of thepresent teachings, an unassembled view of a first of the shaft collars,focusing on engagement of the two-piece shaft collar and an assembledview of a second of the shaft collars, engaged with the shaft of thepresent teachings;

FIG. 32D is a first cross-section view of the shaft collar shown in FIG.32A;

FIGS. 33A-33B are perspective views of the 90° connector of the presentteachings including attachment grooves;

FIGS. 34A-34B are perspective views of the 60° connector of the presentteachings including attachment grooves;

FIGS. 35A-35B are perspective views of the 30° connector of the presentteachings including attachment grooves;

FIGS. 36A-36B are perspective views of the 45° connector of the presentteachings including attachment grooves;

FIGS. 37A-37B are perspective views of the T-shaped connector of thepresent teachings including attachment grooves;

FIGS. 38A-38B are perspective views of the rod-end connector of thepresent teachings including attachment grooves;

FIGS. 39A-39B are perspective views of the broad-base connectors of thepresent teachings including attachment grooves;

FIGS. 40A-40B are perspective views of the flat plate connector of thepresent teachings, including a logo-space on a front face of the flatplate connector;

FIG. 40C is a perspective view of the arm brace bracket of the presentteachings;

FIGS. 40C-1 through 40C-5 are perspective views of the mounting board ofthe present teachings;

FIG. 41A is a perspective view of a configuration of an engagementbetween a 90° and an extrudates by way of a t-head fastener of thepresent teachings;

FIG. 41B is a detailed view of the configuration shown in FIG. 41A,focusing on a engaging the T-head fastener with the extrudates, as shownin FIG. 41A;

FIG. 41C is a representational diagram of a plurality of stages ofengagement of a configuration of the T-head fastener of the presentteachings with an extrudates;

FIGS. 42A, 42B, 43A, 43B, 44A, 44B, 45A, and 45B are perspective viewsof various configurations of the T-head fastener of the presentteachings;

FIGS. 46A-46B are schematic diagrams of perspective views of the motorconnector of the present teachings;

FIG. 46C includes perspective views of the motor pillow bracket of thepresent teachings;

FIGS. 47A-47B are schematic diagrams of perspective views of the servomotor connector of the present teachings;

FIGS. 48A-48B are schematic diagrams of perspective views of the bearingpillow connector of the present teachings;

FIGS. 49A-49B are schematic diagrams of perspective views of the hexpillow connector of the present teachings;

FIGS. 50A-50B are schematic diagrams of perspective views of the acuteangle connector of the present teachings;

FIGS. 51A-51B are schematic diagrams of perspective views of the firstconfiguration of obtuse angle connector of the present teachings;

FIGS. 51C-51D are schematic diagrams of perspective views of the secondconfiguration of obtuse angle connector of the present teachings;

FIGS. 51E-51F are schematic diagrams of perspective views of the thirdconfiguration of obtuse angle connector of the present teachings;

FIGS. 52A-52B are schematic diagrams of perspective views of thevariable angle connector of the present teachings;

FIGS. 53A-53B are schematic diagrams of perspective views of the insidecorner connector of the present teachings;

FIG. 53C includes schematic diagrams of perspective views of the lapcorner bracket of the present teachings;

FIGS. 54A-54D are schematic diagrams of perspective views of theindexable bracket of the present teachings;

FIGS. 55A-55B are schematic diagrams of a hex adaptor of the presentteachings;

FIGS. 55C-55D are perspective views of an assembly includingconfigurations of the hex adaptor of FIGS. 55A-55B;

FIGS. 56A and 56B are perspective views of a configuration of theelectro-mechanical agent with mounted sensors of the present teachings;and

FIGS. 57A and 57B are perspective views of a configuration of theelectro-mechanical agent with mounted sensors of the present teachings.

DETAILED DESCRIPTION

Referring now to FIG. 1, system 21 can perform at least one assignedtask at a setting such as, for example, but not limited to, acompetition. A plurality of inter-communicating units or modules canform system 21 such that each unit or module can participate inperforming the at least one assigned task. The plurality of units ormodules can be, but are not limited to being, mechanical components orelectrical and/or electronic components or a combination of mechanicaland electrical and/or electronic components. System 21 can include, butis not limited to including, at least one user interface device 16,first communications device 5, communications network 18, andelectro-mechanical agent 23. Electro-mechanical agent 23 can furtherinclude, but is not limited to including, second communications device26, controller module 29, at least one power source 31, at least oneactuator 43, at least one mechanical component 47, at least onecurrent/voltage managing and measurement device 35, and at least onesensors 37. User interface device 16 and/or first communications device5 can provide user commands 28 to second communications device 26 and/orcontroller module 29 for example, directly and/or through communicationsnetwork 18, and/or communications device 5. Communications network 18can be wired or wireless. The modules of electro-mechanical agent 23 cancommunicate directly and/or wirelessly and can transfer information suchas, but not limited to, user commands 27, controller commands 28 whichcan include user commands 27, or any instructions from one participatingmodule to another participating module. At least one user command 27 canbe communicated directly and/or through communications network 18 toelectro-mechanical agent 23. System 21 can include, but is not limitedto including, one or more electro-mechanical agents 23, which may or maynot be identically configured. Communications network 18 can enablecommunications among the modules of system 21 including multipleelectro-mechanical agents 23. Second communications device 26 canreceive at least one user command 27 by way of communications network18, and can advance the at least one user command 27 to controllermodule 29. In some configurations, modules of multiple ofelectro-mechanical agents 23, 23A, and first communications devices 5,and user interface 16, can communicate with each other throughcommunications network 18. In some configurations, user interface 16 andfirst communications device 5 can be the same device. At a competition,there could a field controller that could communicate with any or all ofthe multiple electro-mechanical agents 23.

Continuing to refer to FIG. 1, second communications device 26 can beoptionally configured to receive and process user commands 27 togenerate and transmit at least one set of instructions that can bedirected to controller module 29. Controller module 29 can issuecontroller commands 28, based on the at least one set of instructions,for one or more modules on electro-mechanical agent 23. In someconfigurations, receiving and processing of controller commands 28 canbe optionally performed by controller module 29. Sensor 37 can receivedata 34 and transmit data 34 to controller module 29. Data 34 along withresponse functioning and/or execution of controller commands 28 byrespective modules can be fed back to controller module 29 and can befurther advanced to second communications device 26 for obtaining any,if required, altered instructions. In some configurations, alteredinstructions from second communications device 26 can be generated as aresult of user commands 27 that can be issued on the basis of, forexample, but not limited to, response from modules and/or data 34 or newuser commands 27 that can be based on user-preference.

Continuing to refer to FIG. 1, system 21 can be disposed in a setting oran environment that can further include external objects.Electro-mechanical agent 23 can be configured to be mobile in theenvironment and can manipulate at least one external object of theenvironment. Manipulation of the external objects can be substantiallyrelated to the at least one assigned task for electro-mechanical agent23. At least one assigned task can be a pre-determined task that can beassigned prior to constructing electro-mechanical agent 23. Based on theassigned task, electro-mechanical agent 23 can be constructed byemploying a plurality of modules relevant to at least one assigned task.An example of the at least one assigned task can be, but is not limitedto being, engaging one or more target objects 313 (FIG. 30) usingengagement tool 293 (FIG. 28). The assigned task can be supplemented bytransferring the one or more target objects 313 (FIG. 30) from a firstlocation to a second location. The transferring of one or more targetobjects 313 (FIG. 30) from a first location to a second location canalso be achieved by passing on one or more target objects 313 (FIG. 30)from a first configuration of electro-mechanical agent 23 to a secondconfiguration of electro-mechanical agent 23A. The second configurationof electro-mechanical agent 23A can comprise similar or dissimilarcomponents as compared to the first configuration of electro-mechanicalagent 23. The assigned task can require electro-mechanical agent 23 totravel from a start location to an end location. The task of travellingcan be governed by, but not limited to being governed by, travel-time,travel-path which can be linear or non-linear, a pre-determined mannerof dealing with one or more obstacles on the travel-path or acombination of these governing parameters. Some configurations of system21 can employ electro-mechanical agent 23 and/or tournament settings toperform the pre-determined assigned task with higher speed and/or betterefficiency than a competing configuration, also tests can be performedautonomously without human intervention.

Referring now to FIG. 1 and FIG. 2 wherein at least one user interfacedevice 16 (FIG. 1) can be operated by one or more users that canparticipate in an environment or setting comprising system 21 (FIG. 1).A participating user can choose user interface device 16 (FIG. 1) thatcan be used to communicate user commands 27 to electromechanical agent23. Some examples of user interface device 16 (FIG. 1) can be, but arenot limited to being, gamepad, joy stick, microphone for communicatingoral instructions to, hand-held monitor such as a phone or tablet, withpush-buttons or a touch pad or a combination of the two. At least oneuser interface device 16 (FIG. 1) can also include any portable device,possibly having a plurality of input command icons, that can beconfigured to both remotely control the functioning of one or moreelectro-mechanical agents 23 and provide at least one user command 27 toelectro-mechanical agent 23. At least one user interface device 16(FIG. 1) can be configured to interact with communications network 18 byway of first communications device 5. First communications device 5 canserve as a messenger for communicating at least one user command 27 fromuser interface device 16 to second communications device 26 that can bedisposed on electro-mechanical agent 23. Second communications device 26can advance user commands 27 to controller module 29. In someconfigurations, first communications device 5 can be in directcommunication with controller module 29 and can operate the mechanicaland electrical components of electro-mechanical agent 23 on the basis ofthe received of user commands 27. First communications device 5 can be,but is not limited to being, a smart phone, a tablet computer, a laptopcomputer, a desktop computer or any other device that utilizes alanguage of operation common with either user interface devices 16 orsecond communications device 26 or both.

Referring now primarily to FIG. 2, communications network 18 (FIG. 1)between devices outside electro-mechanical agent 23 and devices on orengaged with electro-mechanical agent 23 can accommodate, for example,but not limited to, infrared communication wherein an LED transmittercan be provided in first communications device 5 and a diode receptorcan be provided in second communications device 26. Radio communicationincluding the plurality of user commands 27 and/or instructions fromuser interface device 16 (FIG. 1) can be communicated over a radiofrequency spectrum. Second communications device 26 can comprise areceiving antenna and/or a radio signal decoder/processor. In someconfigurations, bluetooth communication can be used between firstcommunications device 5 and second communications device 26 or firstcommunications device 5 and controller module 29. In someconfigurations, first communications device 5 and second communicationsdevice 26 can connect to a Wi-Fi network and exchange information by wayof signing into a virtual application which can be configured to run alanguage common to first communications device 5 and secondcommunications device 26. Additionally, first communications device 5and second communications device 26 can be configured to exchangeinstructions for operation of expansion modules provided onelectro-mechanical agent 23, considering that the assigned tasks can bealtered. User interface device 16 and first communications device 5 canprovide feedback 27A to the user from controller module 29 and/or secondcommunications device 26.

Continuing to refer primarily to FIG. 2, electro-mechanical agent 23 cancomprise a plurality of modules, such as, but not limited to, actuators43, sensors 37, such as, for example potentiometer 20018 (FIG. 15J), andcurrent/voltage managing and measurement components 35.Electro-mechanical agent 23 can further comprise at least one mechanicalcomponent 47 (FIG. 1) that can be in information exchange and/orpower-communication with electrical components during operation ofelectro-mechanical agent 23. In some configurations, controller module29 can execute user commands 27, optionally sent from secondcommunications device 26, by issuing controller commands 28 to theelectrical and/or mechanical modules of electro-mechanical agent 23.Controller module 29 can send feedback 27A to second communicationsdevice 26 and/or first communications device 5, in case the instructionsare required to be revised or a new set of instructions is to becommunicated from user interface devices 16 and/or second communicationsdevice 26, or feedback 27A can be displayed to the user. Each of theelectrical and mechanical modules of agent 23 can be connected to powersource 31. In some configurations, a common source of power can be usedfor the electrical modules and mechanical components 47 (throughactuator 43). In some configurations, more than one power source can beused for electro-mechanical agent 23. Some examples of power sourcemodule 31 can be, but not limited to being, an external AC power outlet,one or more photovoltaic cells, and one or more batteries which can befor single use or rechargeable. The rechargeable batteries can be, butare not limited to being, nickel-cadmium (NiCad) or nickel metal hydride(Ni-MH) of various sizes. In some configurations, electro-mechanicalagent 23 can use one or more nickel-cadmium batteries for the desiredfunction of the electrical and mechanical components. At least one powersource module 31 can be configured to distribute power 28A to electricaland/or mechanical component 47 (through actuator 43) ofelectro-mechanical agent 23.

Continuing to refer primarily to FIG. 2, electro-mechanical agent 23 caninclude, but is not limited to including, a plurality of electrical andmechanical modules that can communicate with each other and withelectrical and mechanical modules in the vicinity of electro-mechanicalagent 23. The exchange of information among the modules ofelectro-mechanical agent 23 can be governed by at least one userinterface device 16 (FIG. 1). Power 28A can be supplied to electricaland mechanical components according to when user command 27 directsactivation of the electrical and mechanical components. Controllermodule 29 can control to one or more power sources 31 and can manage thepower supply to the respective electrical and mechanical modules. Insome configurations, second communications device 26 can be configuredto manage power 28A from at least one power source 31 to other modulesof electro-mechanical agent 23. In some configurations, a power 28A canbe supplied to each of the modules whereas functioning of the modulescan be controlled by controller module 29 depending on the assignedtask(s).

Referring now to FIG. 3 and FIG. 4, electro-mechanical agent firstexample configuration 75 can be constructed from a plurality ofelectrical and mechanical modules of a modular construction kit and/orfrom a plurality of extension modules that are optional to the modularconstruction kit. The modules and/or extension modules can compriseelectrical components or mechanical components or a combination ofelectrical and mechanical components. Electro-mechanical agent firstexample configuration 75 can further comprise base-frame 80 that can be,but is not limited to being, constructed from a plurality of elementaryunits 85. In some configurations, elementary units 85 can be, but arenot limited to being, extrusions configured to provide attachmentgrooves for receiving fellow modules, extension modules and/orconnectors for engaging fellow modules and/or extension modules.Base-frame 80 can be further built upon by engaging additionalelementary units 85 and/or engaging supplementary modules of the modularconstruction kit and/or extension modules from outside the modularconstruction kit. In some configurations, a combination of a pluralityof supplementary modules and a plurality of extension modules can beused for building upon or expanding base-frame 80.

Continuing to refer primarily to FIG. 3 and FIG. 4, electro-mechanicalagent first example configuration 75 can include second communicationsdevice first example configuration 91 and controller module firstexample configuration 150 (FIG. 4). Communication processor firstexample configuration 91 and controller module first exampleconfiguration 150 can be disposed on base frame 80 or an expansionstructure built on/around base frame 80. FIG. 3 and FIG. 4 depict anexemplary placement of controller module first example configuration 150and second communications device first example configuration 91. Theplacement for these modules can be altered depending on, but not limitedto, a desired size of electro-mechanical agent first exampleconfiguration 75, number of modules employed for construction ofelectro-mechanical agent first example configuration 75 and the task(s)required to be performed. Second communications device 91 can serve as ahardware input/output system such that it can receive user commands fromat least one user interface device 16 (FIG. 1) and advance one or moreinstructions, based on the user commands, to controller module 150.Second communications device 91 can be further configured to receive atleast one execution response, from controller 150 to alter previousinstructions and/or issue a new set of instructions. Consequently,second communications device 91 can operate as a brain ofelectro-mechanical agent first example configuration 75, thussupervising operation of majority of modules and/or extension modules.In some configurations, second communications device 91 or controller150 can comprise a hardware input/output system, processing of usercommands 27 (FIG. 2) from user interface device 16 (FIG. 1) and issuanceof instructions to modules and/or extension modules of firstconfiguration of electro-mechanical agent first example configuration75.

Continuing to refer to FIG. 3 and FIG. 4, electro-mechanical agent firstexample configuration 75 can comprise electrical modules such as, butnot limited to, AC motors, DC motors, gear-motors, sensors and othercomponents configured to manage current/voltage in the modules and/orextension modules of electro-mechanical agent first exampleconfiguration 75. The mechanical modules/extension modules that can formelectro-mechanical agent first example configuration 75 can furthercomprise shafts 65 (FIG. 2), gears 50 (FIG. 2), wheels 53 (FIG. 2),sprockets 56 (FIG. 2), engagement tools 61 (FIG. 2), travel chains 69(FIG. 2), and other mechanical modules required for performing one ormore assigned tasks. Elementary units 85 and/or supplementarymodules/extension modules can be engaged with or built upon base frame80 by way of connectors such as, but not limited to, 90° connector 90A,45° connector 90C, elongated rod end connector 90E (FIG. 4), motorbracket 90F, flat plate connector 90H and grasper bracket 901. Aspecific choice of connector can be based upon, but not limited to, typeand/or size of connecting elementary unit 85, supplementarymodule/extension module participating in the connection and the purposeof the connection. As a result, every type of connector can serve asimilar or dissimilar function however, and can differ in dimensionsand/or groove pattern provided there upon. 90° connector 90A, 45°connector 90C, and flat plate connector 90H can further provide at leastone aperture platform (not shown) with engagement grooves. A firstaperture platform of 90° connector 90A, 45° connector 90C, and flatplate connector 90H can be disposed on one of the connecting modules ofelementary unit 85 while a second aperture platform of 90° connector90A, 45° connector 90C, and flat plate connector 90H can be disposed onanother connecting module. Grooves (not shown) can be disposed such thatplacement of the aperture platform and insertion of a bolt and/or anyother fastening elements therethrough can optionally engage 90°connector 90A, 45° connector 90C, and flat plate connector 90H with atleast one connecting module. Number and/or disposition of a apertureplatform (not shown) on a connector and number and/or disposition of agroove pattern thereupon can be governed by, but not limited by, thenumber of elementary units 85 and/or supplementary and/or extensionmodules that are required to be connected at a given connection point,and/or additional performance features that first configuration ofelectro-mechanical agent 75 is required to have for contributing tocompletion of the assigned task(s). 90° connector 90A, 45° connector90C, and flat plate connector 90H can comprise a plurality of alignmentnubs 359 (FIG. 33B) to, for example, but not limited to, ensure a robustengagement with elementary units 85 and/or the supplementary modulesand/or extension modules.

Continuing to refer to FIG. 3 and FIG. 4, electro-mechanical agent firstexample configuration 75 can include at least one traction wheel 93 toincorporate a mobility feature. In some configurations, traction wheels93 can comprise adjoining travel-sprockets 107 with travel chain 96wrapped on travel sprocket 107 to allow rotation of traction wheels 93when first configuration travel chain 96 rotates adjoining firstconfiguration sprockets 107. In other configurations, traction wheels 93can be directly engaged with a motor. First configuration travel chain96 can travel along a travel line encompassing part of an outercircumference of first configuration travel sprockets 107 that can beengaged with traction wheels 93 as electro-mechanical agent firstexample configuration 75 moves in forward direction 99 and/or backwarddirection 100. In some configurations that comprise more than onetraction wheel 93, at least one gear motor (not shown) can be disposedbetween a first of traction wheels 93 and a second of traction wheels93. The gear motor (not shown) can engage with at least one firstconfiguration sprocket 107 that can further engage first configurationtravel chain 96. Such an arrangement can cause rotation of first andsecond of traction wheels 93 when a rotational transmission advancesfrom the gear-motor (not shown) to first configuration travel chain 96,that can be further engaged with first and second of traction wheels 93along its travel line. First configuration travel sprockets 107 canserve to align first configuration travel chain 96 between first andsecond of traction wheels 93. The gear motor (not shown) can also beengaged directly with first and second of traction wheels 93 to alterthe speed of electro-mechanical agent first example configuration 75.The number of first configuration gear motors 105 and the position offirst configuration gear motors 105 can depend upon, for example, butnot limited to, the assigned task. In some configurations, theelectro-mechanical agent first example configuration 75 can comprisegears that can be independent of a motor. In some configurations, amotor can be separately attached with one or more stages of gears thatcan engage with traction wheels 93, providing a flexibility of alteringgears as per user preference. Choice of the motor can be decided on thebasis of one or more supplementary modules/extension modules engagedwith the additional gears.

Continuing to primarily refer to FIG. 3 and FIG. 4, any number ofengagement assembly gears 130, 137 (FIG. 4), for example, can beconfigured to assist in desired movement of supplementary modules and/orextension modules attached to base frame 80. In some configurations, anassigned task of electro-mechanical agent first example configuration 75can be to engage target object 313 (FIG. 30), travel a known distancewith engaged target object 313 (FIG. 30) and release target object 313(FIG. 30) at a desired destination. Electro-mechanical agent 75 can beconstructed to achieve the above mentioned and/or a similar task. Thesupplementary modules and/or the extension module of electro-mechanicalagent first example configuration 75 can be re-shuffled or re-arrangedto build a similar or dissimilar of electro-mechanical agents 23configured to fulfill any assigned task(s).

Continuing to refer primarily to FIG. 3 and FIG. 4, electro-mechanicalagent first example configuration 75 can comprise engaging assembly 115(FIG. 4) that can be remotely operated by a plurality of users ofelectro-mechanical agent first example configuration 75. Base frame 80can further comprise expansion elementary units 85 to support engagingassembly 115 (FIG. 4). Engaging assembly 115 (FIG. 4) can be constructedby using a number of configurations comprising modules such as, but notlimited to, elementary units 85, connectors 90, electrical modulesand/or extension electrical modules, mechanical modules and/or extensionmechanical modules. In some configurations of engaging assembly 115(FIG. 4), expansion elementary units 85 can support gears 137 (FIG. 4)that can be mounted between by way of bridging shaft 135 (FIG. 4). Oneof the many ways of engaging bridging shaft 135 (FIG. 4) with expansionelementary units 85 can be by using a connector. For example, connector90F can be configured to engage bridging shaft 135 (FIG. 4) withexpansion elementary units 85.

Referring now primarily to FIG. 4, a primary purpose of engagingassembly 115 is to engage target object 313 (FIG. 30). Engaging tool 120can perform optionally engaging operation. Engaging assembly 115 caninclude, but is not limited to including, engaging tools 61 (FIG. 2)such as, for example, graspers, tongs, hooks, magnets, suction device,VELCRO®, a scooping component, a ring configured to engage target object313 (FIG. 30) there between, and/or the like. Some configurations ofengaging assemblies 115 can comprise a combination of firstconfiguration engagement tools 120. In some configurations, engagingassembly 115 can be replaced or can be supplemented with an operatingassembly (not shown) that can further contribute in achieving assignedtask/s. An exemplary engagement tool 120 can perform opening and closingmotion to engage and hold on to target object 313 (FIG. 30),respectively. The height at which engagement tool 120 operates can alsobe adjusted by allowing the tool to raise or fall at the desired levelof target object 313 (FIG. 30). Engagement tool 120 can be connected toengagement tool gears 130 by way of modules such as, but not limited to,at least one elementary unit 85, to provide a cantilever-type movementof engaging assembly 115.

Continuing to refer primarily to FIG. 4, engagement assembly gears 130can be configured to undergo rotation by way of first configurationshaft 110 that can be rotated using AC/DC motor 109. Alternatively,rotation of engagement assembly gears 130 can be achieved by providingone or more assistive gears 137 engaged with shaft 135 that can berotated using gear motor 105. Meshing of assistive gear teeth 137 withteeth of primary gears 130 can cause a consequent rotational motion ofprimary gears 130 thus allowing engaging tool 120 to move in upwarddirection 140 or downward direction 141. In some configurations,engagement tool 120 can include at least one set of graspers 120 with anopening and closing feature to engage one or more target objects 313(FIG. 30). Graspers 120 can comprise an engaging end and geared end 123.Graspers 120 can include gears that can be phased for claw alignmentsuch that there is both no right and left claw, and graspers 120 can bemanufactured identically. Geared end 123 can be engaged with elementaryunits 85 by way of grasper connector 90I. Rotary movement of geared end123 can be performed and controlled by employing a motor such as, butnot limited to, servo motor 126. In other configurations, servo motor126 can be replaced with, for example, but not limited to, an AC/DCmotor or a gear motor with an additional means for controlling theopening and closing movement of graspers 120.

Referring again to FIG. 3 and FIG. 4, electro-mechanical agent firstexample configuration 75 can be constructed to participate at aninstitutional level tournament such that every participating team canconstruct one or more electro-mechanical agents first exampleconfiguration 75 configured to efficiently and rapidly perform theassigned task(s). A user-identifying feature can be provided onelectro-mechanical agent first example configuration 75 such that afirst of electro-mechanical agents first example configuration 75belonging to a first set of users can be differentiated from a second ofelectro-mechanical agents first example configuration 75 belonging to asecond set of users. The user-identifying feature can be modified incase the same of electro-mechanical agents first example configuration75 or a modified and or advanced version of electro-mechanical agentfirst example configuration 75 is used for performing more than oneassigned tasks. Electro-mechanical agent first example configuration 75can also comprise status indicators to communicate one or morepre-determined modes of electro-mechanical agent first exampleconfiguration 75. The pre-determined modes can be related to, butlimited to, a powered-on mode, a powered-off mode, low battery mode,failure mode and the like. In some configurations, the status indicatorscan be, but are not limited to being, visual and/or audio.

Referring now to FIGS. 4A-4F, in some configurations, electromechanicalagent first configuration 75 (FIGS. 3 and 4) can comprise connectorsother than 90° connector 90A (FIG. 4), 45° connector 90C (FIG. 4),elongated rod end connector 90E (FIG. 4), motor bracket 90F (FIG. 4),flat plate connector 90H (FIG. 4), and grasper bracket 90I (FIG. 4).Connectors other than the enlisted connectors can include one or moreconfigurations of the enlisted connectors and/or can be connectorsunique from the enlisted connectors and configured to fulfill anengagement requirement for one or more supplementary/extension module.For example, some extension modules may be required to connect at anobtuse angle with respect to base frame 80. As a result, this assemblycan engage an elementary unit 85 and/or supplementary module through atleast one obtuse angle connector (FIGS. 4E and 4F) such as but notlimited to 120° connector 750 (FIGS. 51A and 51B), 135° connector 770(FIGS. 51C and 51D) and 150° connector 800 (FIGS. 51E and 51D). FIGS.4A-4F depict exemplary partial assemblies with use of variant connectorthat can fulfill requirement of a specific engagement.

Referring primarily to FIG. 4A, partial assembly 76A can include one ofelementary units 85 engaged with base frame 80 by forming an angle therebetween. FIG. 4A depicts the use of variable angle connector 90Rconfigured to receive a part of base frame 80 and a part of elementaryunit 85 to achieve a required angled relationship there between.Variable angle connector 90R can be further configured to provide arange of angled relationships between two or more engaging components.Some configurations of variable angle connector 90R can be furtherconfigured to engage with two or more pairs of components, i.e. a firstset of two or more engaging components can form a first angledrelationship and a second set of two or more engaging components canform a second angled relationship using a single variable bracket 90R.Motor bracket second configuration 90K can engage two or moresupplementary/extension modules. In some configurations, the engagingcomponents can include, but are not limited to including, a shaft, ACand/or DC motor, servo motor, etc. FIG. 4A depicts motor bracket 90K atmore than one locations for engaging supplementary/extension moduleswith elementary unit 85 and/or base fame 80. In some configurations, afirst portion of the motor bracket second configuration 90K can beengaged with elementary unit 85 and a second portion can be configuredto receive a shaft through principal aperture 580 (FIGS. 46A and 46B)such that the shaft can be engaged with two distinct modules provided oneither sides of motor bracket second configuration 90K. It should benoted that a desired spacing between first portion 555A (FIGS. 46A and46B) and second portion 555B (FIGS. 46A and 46B) of motor bracket secondconfiguration 90K can allow exemplary modules, such as but not limitedto gear motor 105 to be engaged on either side of motor bracket secondconfiguration 90K without any intrusion or interference from engagingelementary unit 85. Partial assembly 76A depicts disposition of motorbracket second configuration 90K at one of the locations with anelementary unit 85 and gear motor 105 uninterruptedly engaged on sameside of motor bracket second configuration 90K.

Continuing to refer to FIG. 4A, partial assembly 76A can include bearingpillow connector 90N engaging part of shaft 135 with elementary unit 85and/or base frame 80. Bearing pillow connector 90N can provide firstportion 695A (FIGS. 48A and 48B) configured to engage with or mount onelementary unit 85 and a second portion 695B (FIGS. 48A and 48B)configured to receive part of shaft such as but not limited to bridgingshaft 135 (FIG. 4). In some configurations, second portion 695B ofbearing pillow bracket 90N can be dimensioned to receive a shaft with avaried geometry. For example, second portion of bearing pillow bracket90N can be configured to receive a hex geometry shaft there through. Insome configurations, received shaft 135 can be engaged with a bearing(not shown) while entering, exiting or interacting with bearing pillowconnector 90N, to allow shaft 135 to maintain its rotational and/orlinear freedom of motion. Bearing pillow bracket 90N has been used atmultiple locations in partial assembly 76A. One of the many locationsdepicts engagement of shaft 135 with two elementary units 85 through useof bearing pillow connector 90N employed at either ends of shaft 135.Motor pillow bracket 30000-012 (FIG. 46C) can act as a rotating shaftsupport, while a hex connector 650 (FIG. 49A) can hold a shaft in afixed position relative to a structure.

Referring now to FIGS. 4B-4D, partial assembly 1076B can include servomotor connector 90L that can engage at least one servo motor 126A/126Bwith elementary unit 85 and/or base frame 80. Servo motor connector 90Lcan comprise first portion 615A (FIGS. 47A and 47B) configured topartially or completely receive servo motor 126A/B and second portion615B (FIGS. 47A and 47B) configured to receive a second engagingcomponent such as but not limited to supplementary module, elementaryunits 85 or base frame 80. In some configurations, servo motor connector90L can be configured to engage servo motor 126A/B in more than oneconfiguration. FIGS. 4B-4D depict first servo motor 126A engaged withelementary unit 85 in a first exemplary configuration by way of servomotor connector 90L and second servo motor 126B engaged with elementaryunit 85 in a second exemplary configuration by way of another servomotor connector 90L. A clear view of two exemplary configurations ofthis engagement can be depicted through FIG. 4C and FIG. 4D whereingears 30002-005 (FIG. 4G-14) have been temporarily discarded. A firstexemplary engagement configuration can be achieved by engagingelementary unit 85 with second portion 615B (FIGS. 47A and 47B) througha second side of servo motor connector 90L and accommodating servo motor126A into frame 625 (FIGS. 47A and 47B) through first side such that aservo shaft (not shown) can extend away from frame 625 (FIGS. 47A and47B) and surpass a width of elementary unit 85 engaged on a second sideof servo motor connector 90L. Such an exemplary engagement can allowservo shaft (not shown) to engage at least one gear 30002-005 (FIG.4G-14). Engaged gear can be further configured to interact with one ormore meshed gears without any interference of elementary unit 85. Asecond exemplary engagement configuration can be achieved by engaging anelementary unit 85 with second portion 615B (FIGS. 47A and 47B) througha second side of servo motor connector 90L and accommodating servo motor126B into frame 625 (FIGS. 47A and 47B) through first side such that aservo shaft (not shown) can extend away from frame 625 (FIG. 47A andFIG. 47B) and can stay within a width of elementary unit 85. Such anarrangement can allow servo shaft to interact with a shaft component 135(FIG. 4C) through an servo motor shaft adapter 82 configured to play anintermediary between the two shafts. The above mentioned interaction canbe achieved irrespective of elementary unit 85 being attached to secondportion 615B (FIG. 47A and FIG. 47B) of servo connector 90L. FIG. 4D isa top view of partial assembly 1076B that depicts a comparative view ofthe extents to which first servo motor 126A and second servo motor 126Bengage with respective servo motor connectors 90L. Adapter 90K-1 (FIG.4D-1) can provide a resting place for bracket 90K (FIG. 4D).

Referring now to FIG. 4B-1, exemplary assembly 1001 depicts engagementof modules 1090 and 1091 with elementary unit 85 through indexablebracket 1000. A first setup 1080A depicts engagement of first module1090 with elementary unit 85 at a first level while a second setup 1080Bdepicts engagement of second module 1091 at a second level. Aspreviously mentioned, a slideable adjustment of engaging screws canallow modules to be disposed at a desirable height with respect toelementary unit 85.

Referring now primarily to FIGS. 4B-1 through 4B-4 and FIG. 4B-4A, insome configurations, rotational parts such as, for example, but notlimited to, wheels 30006-006 (FIG. 4B-4), gears 30002-007 (FIG. 4B-4),pulleys 30060-002 (FIG. 4B-2), and sprockets 30003-001 (FIG. 4G-6) caninclude hex-shaped shaft cavities 30003-001B (FIG. 4G-6), for example,acting as splines to enable non-adapter/keyway shaft coupling.Rotational parts can have the same width and can be swappable withoutchanging the system. Tension on axles, due to the nature of the bracketsand shafts, can be slide-adjustable by sliding the axles along theextrusion to tune power transmission (gear mesh, chain tension, etc.).Slide-adjustability results from mounting to the slot of the extrusionwith brackets. For example, gears can be slid together until theyengage, and sprockets can be slid relative to each other to, forexample, tension a chain. The extrusion can enable motion brackets to bemounted on the sides of the extrusion structure. In some configurations,the hex-shaped shaft cavities 30003-001B (FIG. 4G-6) can include grooves30003-001D (FIG. 4G-6) that can enable shaft alignment and key features.In some configurations, hex-shaped shaft cavities 30003-001B (FIG. 4G-6)can include bumps 30003-001E that can enable a snug fit. In someconfigurations, a 5 mm shaft profile can be used. In someconfigurations, adapters and bearings, for example drive shaft bearing30001-001 (FIG. 4G-1), can be used to enable the hex shafts to spin inround holes. The adapters and bearings can include round outer diameters30001-001D (FIG. 4G-1), for example. In some configurations, long30001-008 (FIG. 4G-5) and short 30001-005 (FIG. 4G-2) through-holebearings can be placed anywhere on the hex shaft based on need, forexample, enabling a compact mechanism as shown in FIG. 4B-4. Shaftcollar 330 (FIG. 32A), for example, can hold the lateral position of thehex shaft relative to the bearings. In some configurations, the hexshaft can terminate inside an adapter or bearing such as, for example,drive shaft bearing 30001-001 (FIG. 4D). Lateral movement of the shaftcan be reduced and/or eliminated when both ends of the hex shaftterminate inside an adapter or bearing such as, for example, pillowbracket 90N (FIG. 4A). Pillow bracket 90N (FIG. 4A) can couple arotating shaft with a rotating system part. In some configurations,shafts and bearings can require support. Motion brackets and/or pillowbrackets can supply the support. In some configurations, the motionand/or pillow brackets can include cavity 5800 (FIG. 46A), for example,of the same dimension as the outer diameter of the adapters and/orbearings. In some configurations, cavity 5800 (FIG. 46A) can include a 9mm dimension. In some configurations, the motion and/or pillow bracketscan include hole patterns 5700 (FIG. 46A), for example, in the vicinityof cavity 5800 (FIG. 46A). Bearing support for, for example, a robot,can depend upon the coupling between a motion bracket and a bearing. Thecoupling can depend upon the materials the brackets and bearings aremade from, and the tolerancing to provide bearing support for robots.Materials can include those that have a low coefficient of friction, andthose that retain integrity when exposed to heat and/or friction suchas, for example, but not limited to acetal, for example, but not limitedto, Delrin, and Nylon, for example, PA66. In some configurations, thetolerance can be between about 0.02 mm and 0.28 mm. In someconfigurations, the hex shaft can be manufactured of metal and thebearings and supports can be manufactured of plastics. In someconfigurations, first configuration gear motor 105 (FIG. 4B-3) can drivemotion in, for example, but not limited to, gears 30002-001 through30002-009 (FIG. 4G-12 through FIG. 4G-18) and wheel assemblies 20006-004(FIG. 6V), 20006-001 (FIG. 6W), and 20006-005 (FIG. 6X). In someconfigurations, second configuration gear motor 2000 (FIG. 4B-4A) candrive motion in, for example, but not limited to, pulleys 30060-002B/C.

Referring now to FIGS. 4B-2A, 4B-2B, and 4B-2C, pulley 30060-002A (FIG.4B-2A), pulley 30060-002B (FIG. 4B-2B), and pulley 30060-002C (FIG.4B-2C) can include alternating retaining features 30060-1/30060-2 thatcan be positioned to alternately oppose each other, and that can formtrack 30060-4 split across the width of pulley 30060-002. Alternatingretaining features 30060-1/30060-2 can include slanted walls 30060-3that can include any slant angle that can accommodate the diameter ofbelt 30060-8. Alternating retaining features 30060-1/30060-2, slantedwalls 30060-3, and formed track 30060-4 can guide belt 30060-8 (FIG.4B-2). The geometry of pulleys 30060-002A/002B/003C (FIGS. 4B-2A, 4B-2B,and 4B-2C) can produce a functioning device, and can allow pulleys30060-002A/002B/003C (FIGS. 4B-2A, 4B-2B, and 4B-2C) to be molded usinga two-part mold. In some configurations, pulleys 30060-002A/002B/003C(FIGS. 4B-2A, 4B-2B, and 4B-2C) can include hex-shaped shaft cavities30060-5 that can accommodate a hex-shaped shaft. Pulleys30060-002A/002B/003C (FIGS. 4B-2A, 4B-2B, and 4B-2C) can include anyshaft cavity shape. In some configurations, pulleys 30060-002A/002B/003C(FIGS. 4B-2A, 4B-2B, and 4B-2C) can include strengthening shapes 30060-6and associated cavities 30060-7 that can maintain the structuralintegrity of pulleys 30060-002A/002B/003C (FIGS. 4B-2A, 4B-2B, and4B-2C) without unnecessarily increasing weight and material requirementsof pulleys 30060-002A/002B/003C (FIGS. 4B-2A, 4B-2B, and 4B-2C). Pulleys30060-002A/002B/003C (FIGS. 4B-2A, 4B-2B, and 4B-2C) can include anynumber of alternating retaining features 30060-1/30060-2, strengtheningshapes 30060-6, and associated cavities 30060-7.

Continuing to refer to FIGS. 4B-2A, 4B-2B, and 4B-2C, in an injectionmolded part, any axis that intersects the part parallel to the axis ofmold release must enter the part and exit the part exactly once toprevent the part from becoming stuck inside the molding cavity after thepart solidifies unless the mold tool for that part includes anadditional slider or insert. This additional complexity can increase thecost of the mold tool. Some pulleys incorporate a circumferentialgroove, concentric to the central pivot bore axis which can cause themold release axis to enter and exit the part twice. Pulleys 30060-002A(FIG. 4B-2A), 30060-002A (FIG. 4B-2B), and 30060-002C (FIG. 4B-2C) ofthe present teachings can include first slanted protrusion 30060-1 thatcan be positioned opposite to and offset from second slanted protrusion30060-2, the positioning of which can form depression 30060-4. In use,pulley cord 30060-8 (FIG. 4B-2) can rest in depression 30060-4. The moldfeatures for pulleys 30060-002A (FIG. 4B-2A), 30060-002A (FIG. 4B-2B),and 30060-002C (FIG. 4B-2C) can be free from overhang in the directionthat the mold opens, thereby accommodating a single mould release axisfor pulleys 30060-002A (FIG. 4B-2A), 30060-002B (FIG. 4B-2B), and30060-002C (FIG. 4B-2C).

Referring now primarily to FIG. 4B-5, hex-shaped shaft cavities3003-001B of exemplary wheels 30006-006 (FIG. 4B-4), gears 30002-007(FIG. 4B-4), pulleys 30060-002 (FIG. 4B-2), and sprockets 30003-001(FIG. 4G-6), can include grooved vertices 3003-001B (1). Groovedvertices 3003-001B (1) can be configured to aid in coupling of hex shaft3001-009B (FIG. 4B-6) within hex shaped cavity 3003-001B and furtherrestrict hex shaft 3001-009B (FIG. 4B-6) to rotate within hex shapedcavity 3003-001B. Such an arrangement can enable torque transfer fromhex shaft 3001-009B (FIG. 4B-6) to coupled components, as enlistedherein. In some configurations, hex-shaped cavity 3003-001B canaccommodate a cylindrical shaft that may or may not rotate within hexshaped cavity 3003-001B.

Referring now to FIG. 4B-6, shaft collar 3001-009 is depicted with acircular bore 3001-009A. Hex shaft 3001-009B can be received withincircular bore 3001-009A of shaft collar 3001-009. In someconfigurations, hex shaft 3001-009B can be rotated within circular bore3001-009A to affix with walls of circular bore 3001-009A. Such anaffixation can be achieved by allowing at least one of the hex sides ofhex shaft 3001-009B to be substantially parallel to a part of the wallof circular bore 3001-009A. Hex shaft 3001-009B can be received intocircular bores 3001-009A of other components such as but not limited to,wheels 30006-006 (FIG. 4B-4), gears 30002-007 (FIG. 4B-4), pulleys30060-002 (FIG. 4B-2), and sprockets 30003-001 (FIG. 4G-6), andconnectors (FIGS. 33A to 40C and FIGS. 46A to 54D). Set screw 3001-009Ccan enable secure coupling between hex shaft 3001-009B and shaft collar3001-009. Shaft collar 3001-009 can include a standard thread such as,for example, but not limited to, an M3 thread. In some configurations, astandard hex cap bolt can be used in shaft collar 3001-009 instead ofset screw 3001-009C.

Referring now to FIGS. 4E and 4F, partial assembly 76C can include frame74 formed from a plurality of elementary units 85. The plurality ofelementary units 85 can be engaged by way of at least one obtuse angleconnector 90U, at least one acute angle connector 90X and at least oneinside corner connector 90P. Obtuse angle connector 90U can beconfigured to provide a first arm in an obtuse relationship with asecond arm. A first elementary unit 85A can be engaged with first arm755 (FIGS. 51A and 51B) and second elementary unit 85B can be engagedwith second arm 757 (FIGS. 51A and 51B), thereby forming an obtuserelationship between first elementary unit 85A and second elementaryunit 85B. Such an engagement can further allow obtuse angle connector90U to be disposed at an edge of frame 74 and facing away from firstelementary unit 85A and second elementary unit 85B. Partial assembly 76Cemployees 120° connector 90U that can be replaced by any other obtuseangle connector such as but not limited to 135° connectors, 150°connectors, etc. A second location of partial assembly 76C depicts anacute angled relationship between first elementary unit 85A and thirdelementary unit 85C via acute angle connector 90X. Acute angle connector90X can be, but is not limited to being a 30° connector. Acute angleconnector 90X can further comprise first arm 710 (FIGS. 50A and 50B)that can engage first elementary unit 85A, and second arm 715 (FIGS. 50Aand 50B) that can engage another, in this case, third elementary unit85C, thus achieving an acute angle relationship between the twoelementary units 85A, 85C. Such an engagement can allow acute angleconnector 90X to be disposed along edge of frame 74 and facing away fromengaged elementary units 85A and 85C. In some configurations, bridginggap 720 (FIGS. 50A and 50B) can be provided between first arm 710 (FIGS.50A and 50B) and second arm 715 (FIGS. 50A and 50B) to ensure anuninterrupted engagement of elementary units 85A, 85C. Partial assembly76C can include engagement of second elementary unit 85B and thirdelementary unit 85C via inside corner bracket 90P. Inside corner bracket90P can comprise first arm 910 (FIGS. 53A and 53B) configured to engagesecond elementary unit 85B, and second arm 912 (FIGS. 53A and 53B)configured to engage third elementary unit 85C. A variety of angledrelationships can be provided between first arm 910 (FIGS. 53A and 53B)and second arm 912 (FIGS. 53A and 53B) of inside corner bracket 90P.Disposition of inside corner connector 90P can be in the interior offrame 74 and in a plane also comprising engaging elementary units 85Band 85C. Acute and obtuse brackets can be combined to form variousgeometric shapes, for example, but not limited to, a triangle.

Referring now to FIG. 4G-1, drive shaft bearing 30001-001 can operablycouple with shaft 30001-001A (FIG. 4C) and can provide bearing surface30001-001B against motor bracket second configuration 90K (FIG. 4C).Shaft 30001-001A (FIG. 4D) can operably couple with drive shaft bearing30001-001 at bearing cavity 30001-001C which can be any shape toaccommodate shaft 30001-001A (FIG. 4D). Bearing mount 30001-001D canoperably couple with, for example, motor bracket second configuration90K (FIGS. 46A/46B) at principal aperture 5800 (FIGS. 46A/46B).

Referring now to FIG. 4G-2, through-bore bearing 30001-005 can attach toshaft 30001-005A (FIG. 4A), for example, and can provide bearing surface30001-005D against shaft support brackets such as, for example, motorbracket second configuration 90K (FIGS. 46A/46B). Shaft 30001-005A (FIG.4A) can operably couple with through-bore bearing 30001-005 at bearingcavity 30001-005B which can be any shape to accommodate shaft 30001-005A(FIG. 4A). Bearing mount 30001-005C can operably couple with, forexample, motor bracket second configuration 90K (FIGS. 46A/46B) atprincipal aperture 5800 (FIGS. 46A/46B).

Referring now to FIG. 4G-3, shaft collar 30001-006 can clamp down on ashaft to retain axial position of the shaft. The shaft can operablycouple with shaft collar 30001-006 at shaft cavity 30001-006C. Shaftcollar 30001-006 can be tightened at tightening port 30001-006A toreduce the size of collar opening 30001-006B, because shaft collar30001-006 is flexible, and thus tighten shaft collar 30001-006 against ashaft such as, for example, but not limited to, shaft 30001-005A (FIG.4A).

Referring now to FIG. 4G-4, servo shaft adapter 82 can operably coupleservo motor output shaft 30001-007D (FIG. 4C) to hex shaft 135 (FIG. 4C)at shaft cavity 30001-007C. Bearing mount 30001-007A can operably couplewith, for example, motor bracket second configuration 90K (FIGS.46A/46B) at principal aperture 5800 (FIGS. 46A/46B).

Referring now to FIG. 4G-5, through-bore bearing second configuration30001-008 can couple pillow bracket 90N (FIG. 4A) to a shaft (notshown), for example, and can provide bearing surface 30001-008D against,for example, pillow bracket 90N (FIG. 4A) at cylindrical bore 696 (FIGS.48A/48B). A shaft can operably couple with through-bore bearing30001-008 at bearing cavity 30001-008A which can be any shape toaccommodate the shaft. Through bore bearing first configuration30001-005 (FIG. 4G-2) and through bore bearing second configuration canallow a shaft to fully pass through bearing first configuration30001-005 (FIG. G-2) and/or bearing second configuration 30001-008supplying support to an axle at any point on the length of the axle.

Referring now to FIGS. 4G-6 through 4G-11, sprockets 30003-001 (FIG.4G-6), 30003-002 (FIG. 4G-7), 30003-003 (FIG. 4G-8), 30008-008 (FIG.4G-9), 30003-009 (FIG. 4G-10), and 30003-010 (FIG. 4G-11) can mount onshafts and transmit rotational power to a chain such as for examplechain 30003-001A (FIG. 4A). Any size sprocket can be used to enablemovement of chain 30003-001A (FIG. 4A), for example, sprocket 30003-002(FIG. 4A). sprockets 30003-001 (FIG. 4G-6), 30003-002 (FIG. 4G-7),30003-003 (FIG. 4G-8), 30008-008 (FIG. 4G-9), 30003-009 (FIG. 4G-10),and 30003-010 (FIG. 4G-11) can include notched shaft cavity 30003-001Bthat can enable in phase mounting of modules onto a shaft, for example,shaft 30001-005A (FIG. 4A). Each of sprockets 30003-001 (FIG. 4G-6),30003-002 (FIG. 4G-7), 30003-003 (FIG. 4G-8), 30008-008 (FIG. 4G-9),30003-009 (FIG. 4G-10), and 30003-010 (FIG. 4G-11) can include aparticular number of teeth 30003-001C that can engage chain 30003-001A(FIG. 4A) and enable specific power transmission to the wheels (notshown).

Referring now to FIGS. 4G-12 through 4G-19, gears 30002-001 (FIG.4G-12), 30002-002 (FIG. 4G-13), 30002-005 (FIG. 4G-14), 30002-005A (FIG.4G-14A), 30002-006 (FIG. 4G-15), 30002-007 (FIG. 4G-16), 30002-008 (FIG.4G-17), 30002-009 (FIG. 4G-18), and 30011-002 (FIG. 4G-19) can mount ona shaft such as, for example, shaft 135 (FIG. 4C), and can transmitrotational power. In some configurations, notch 30002-001D can beincluded to assist in placement and proper alignment of gear 3002-001.Notch 30002-001D can be included in any module that can requirealignment assistance. Any size gear can be used to enable transmissionof power and gear reduction from, for example, servo motor 126A (FIG.4C), for example, to gear 30002-005 (FIG. 4B). Each of gears 30002-001(FIG. 4G-12), 30002-002 (FIG. 4G-13), 30002-005 (FIG. 4G-14), 30002-006(FIG. 4G-15), 30002-007 (FIG. 4G-16), 30002-008 (FIG. 4G-17), 30002-009(FIG. 4G-18), and 30011-002 (FIG. 4G-19) can include notched shaftcavity 30002-001B that can enable in phase mounting of modules onto ashaft, for example, shaft 30002-001E (FIG. 4B). Each of gears 30002-001(FIG. 4G-12), 30002-002 (FIG. 4G-13), 30002-005 (FIG. 4G-14), 30002-006(FIG. 4G-15), 30002-007 (FIG. 4G-16), 30002-008 (FIG. 4G-17), 30002-009(FIG. 4G-18), and 30011-002 (FIG. 4G-19) can include a particular numberof teeth 30002-001C that can enable specific power transmission fromservo motor 126A (FIG. 4A), for example, through gears 30011-002 (FIG.4B) and 30002-005 (FIG. 4B). In some configurations, motion components(gears, sprockets, pulleys, and wheels) can include a hole mountingpattern that is on, for example, but not limited to, an 8 mm pitch. Insome configurations, the bolt holes can accommodate, for example, M3bolts. Various hole and supporting structure patterns in gears,sprockets, wheels, and pulleys can be used to reduce weight, improvestrength, and accommodate manufacturing considerations.

Referring now to FIG. 5 and FIG. 6, electro-mechanical agent secondexample configuration 76 can include, but is not limited to including,at least one omni-wheel 160. Omni-directional wheel 160 can beconfigured to provide a mobility feature to electro-mechanical agentsecond example configuration 76. A plurality of rollers on omni-wheel160 and can be arranged in a substantially circular set up. The rollerscan be configured to allow electro-mechanical agent second exampleconfiguration 76 to move in an omni-directional fashion. Additionally,electro-mechanical agent second example configuration 76 can alsoinclude regular wheels 53 that allow electro-mechanical agent secondexample configuration 76 to retain its ability of moving in otherdirections, thus providing an omni-directional mobility feature toelectro-mechanical agent second example configuration 76. In someconfigurations, all wheels of electro-mechanical agent second exampleconfiguration 76 can be replaced by omni-wheels 160. Omni-directionalwheels 160 can be further arranged to allow electro-mechanical agentsecond example configuration 76 to move in holonomic directions. In someconfigurations, regular wheels 53 of electro-mechanical agent secondexample configuration 76 can be replaced by wheels 160. The position ofregular wheel/s 53 and/or omni-directional wheels 160 can be as per userpreference. Choice of wheels whether regular 53 and/or omni 160, can bebased on, but are not limited to be based on, user requirements and/orexpectations from electro-mechanical agent second example configuration76, number of modules employed for building electro-mechanical agentsecond example configuration 76 and/or the assigned task(s).

Referring now primarily to FIG. 6A, and FIG. 6B, a first configurationof traction wheel 93 (also shown in FIG. 3 and FIG. 4).Electro-mechanical agent first example configuration 75 (FIG. 3) cancomprise at least one traction wheel 93 to provide a mobility feature toelectro-mechanical agent first example configuration 75 (FIG. 3). Someconfigurations of Electro-mechanical agent first example configuration75 (FIG. 3) can provide a similar and/or dissimilar module/s formobilizing electro-mechanical agent first example configuration 75 (FIG.3). Besides contributing to mobilizing the electro-mechanical agentfirst example configuration 75 (FIG. 3), traction wheel/s 93 can alsoengage with operative module/s of electro-mechanical agent first exampleconfiguration 75 (FIG. 3) and can optionally participate in completionof assigned task/s. The number of traction wheels 93 onelectro-mechanical agent first example configuration 75 (FIG. 3) can begoverned by conditions such as, but not limited to, nature of theassigned task/s, desired dimensions and weight of electro-mechanicalagent first example configuration 75 (FIG. 3), desired number ofcomponents of electro-mechanical agent first example configuration 75(FIG. 3), extent of mobility and pace desired for electro-mechanicalagent first example configuration 75 (FIG. 3) and/or the like. Tractionwheel 93 can comprise hub portion 505 with a first face 500A and asecond face 500B. An axle bearing 513 can be disposed substantiallycentral to the hub portion 505 and can be configured to engage with ashaft (not shown) and/or one or more modules of the electro-mechanicalagent 75. The traction wheel 93 can be engaged such that rotary motionof the traction wheel 93 is not hindered by its engagement with theelectro-mechanical agent 75. The hub portion 505 can optionally provideat least one engagement hole 525. In some configurations, engagementhole/s 525 can allow the traction wheel 93 to engage with componentssuch as, but not limited to, one or more brackets, one or more sprocketsand/or any other modules of the construction kit or extension modulesexternal to construction kit. The traction wheel 93 can further comprisea rim portion 517. The rim portion 517 that can be captured by a tire520.

Referring now to FIG. 6C that depicts an exploded view of traction wheel93. Traction wheel 93 can be, but not limited to being a multi-partcomponent. Traction wheel 93 can include wheel frame 521 captured intire 520. Rim portion 517 of wheel frame 521 can comprise first surface517(a) and second surface 517(b). First surface 517(a) can be configuredto substantially face away from axle bearing 513 while second surface517(b) can be configured to substantially face towards axle bearing 513.Wheel frame 521 can engage with tire 520 such that tire 520 cansubstantially wrap around first surface 517(a) of rim portion 517. Tire520 can further comprise mating surface 520B and treaded surface 520A.Mating surface 520B can include a plurality of receptacles 535 which canbe configured to receive corresponding raised segments 545 on wheelframe 521 to allow engagement of rim portion 517 with mating surface520B. Raised segments 545 can further comprise stem region 545A and roofregion 545B. Engagement of rim portion 517 and mating surface 520B oftire 520 can be achieved by, for example, but not limited to, molding atleast roof region 545B of raised segment 545 inside correspondingreceptacle 535 of tire 520. Treaded surface 520A of tire 520 can beconfigured to cause maximum friction between traction wheel 93 and asurface (not shown) on which traction wheel 93 can operate.

Referring now to FIG. 6D to FIG. 6G that collectively depict a firstconfiguration of omni-directional wheel 550. FIG. 6D to FIG. 6G can bediscussed with reference to FIG. 5 and FIG. 6 which depictelectro-mechanical agent second example configuration 76 (FIG. 5) withat least one of the many configurations of omni-directional wheel 160(FIG. 5 and FIG. 6). Omni-directional wheel 550 can provideomni-directional mobility or a omni-directional drive feature toelectro-mechanical agent second example configuration 76 (FIG. 5).Considering a pre-determined position of omni-directional wheels 550 onelectro-mechanical agent second example configuration 76 (FIG. 5), butnot limited by this placement, electro-mechanical agent second exampleconfiguration 76 (FIG. 5) can be configured to move side to side and/ormaneuver diagonally without changing direction of omni-directionalwheels 550. A single electro-mechanical agent second exampleconfiguration 76 (FIG. 5) can comprise one or more omni-directionalwheels 550. In some configurations, for example, but not limited to,FIG. 5, electro-mechanical agent second example configuration 76 (FIG.5) can comprise a combination of traction wheel/s 93 (FIG. 6A to FIG.6C) and omni-directional wheel/s 550 as mobility modules. In someconfigurations, all mobility modules on electro-mechanical agent secondexample configuration 76 (FIG. 5) can be either traction wheels 93 oromni-directional wheels 550. Disposition of omni-directional wheel 550on electro-mechanical agent second example configuration 76 (FIG. 5) canbe user preferred to configure the electro-mechanical agent secondexample configuration 76 (FIG. 5) in completing and/or contributingtowards the assigned task/s. A first configuration of omni-directionalwheel 550 can comprise at least one support plate 566 with a hub or coresegment 565. Omni-directional wheel 550 can comprise a higher degree offreedom in motion by virtue of components such as, but not limited to,at least one roller 555 configured to engage with at least one supportplate 566. Roller/s 555 can be engaged such that roller axis 553, aboutwhich roller 555 rotates, can be disposed substantially perpendicular toa omni-directional wheel axis 551 (FIG. 6D), about whichomni-directional wheel 550 rotates. Roller/s 555 can be optionallyand/or concurrently disposed tangential to circumference of theomni-directional wheel 550. Consequently, the omni-directional wheel 550can cause a forward and/or backward drive, perpendicular to the axis551, as in a traction wheel 93 (FIG. 6A to FIG. 6C). Additionally, theomni-directional wheel 550 can move side-ward and/or diagonally alongroll surface of rollers 555, in a direction substantially parallel toomni-directional wheel axis 551.

Continuing to refer to FIG. 6D to FIG. 6G, a plurality of rollers 555can be disposed on at least one support plate 566 (FIG. 6D) such thatrotary motion of one of the plurality of rollers 555 can stayuninterrupted by the rotary motion of one or more neighboring rollers555. In some configurations, plurality of rollers 555 can becircumferentially arranged around single support plate 566 (FIG. 6D) toform a substantially uniform circular periphery. Present teachings ofthe disclosure illustrate a configuration of the omni-directional wheel550 that can comprise first support plate 566A (FIG. 6E) and a secondsupport plate 566B (FIG. 6E). First support plate 566A (FIG. 6E) andsecond support plate 566B (FIG. 6E) can come together to position theirrespective rollers, belonging to first support plate 566A (FIG. 6E) androllers 555B (FIG. 6E), belonging to second support plate 566B (FIG.6E), in an offset arrangement. In some configurations, omni-directionalwheel 550 can include a continuous circular periphery. Support plate566A (FIG. 6E) and 566B (FIG. 6E) can further provide a plurality offlexible pillars 560A (FIG. 6E) and 560B (FIG. 6E), respectively.Flexible pillars 560 (FIG. 6D) can be configured to detain at least oneroller 555 (FIG. 6D) there between, such that detained roller 555 (FIG.6D) can uninterruptedly perform its desired function during operation ofomni-directional wheel 550. Pin 559A-1 (FIG. 6E) can include a flattenedarea to prevent a flash from interfering with rotation.

Referring now primarily to FIG. 6F and FIG. 6G, first support plate 566Acan include co-operating surface 566(A)(1) (FIG. 6F) and an opposingsurface 566(A)(2) (FIG. 6G). Although the following discussion canpertain to first support plate 566A, the discussed features and/oradditional features can also be provided by second support plate 566B(FIG. 6E) and/or any subsequent support plates 566 (FIG. 6D). Aplurality of flexible pillars 560A can be configured to detain at leastone roller 555A (FIG. 6E). The flexible pillars 560A can further providetower structure 561A and node feature 562A, such that tower structure561A can extend away from support plate 566A and node feature 562A canbe disposed at a terminal end of tower structure 561A. In someconfigurations, flexible pillars 560A can be configured to, for example,but not limited to, flex in direction 564A (FIG. 6G) or 564B (FIG. 6G).A flexing of flexible pillars 560A can allow an entry of roller 555(FIG. 6D) in roller space 563A (FIG. 6G). Roller 555 (FIG. 6D) can bedetained in roller space 563A (FIG. 6G) by substantially engaging nodefeatures 562A of neighboring flexible pillars 560A and can be capturedtherebetween. At least one support plate 566 (FIG. 6D) can furthercomprise brace member 559 (FIG. 6G), optionally extending from supportplate 566 (FIG. 6D). Brace member 559 (FIG. 6G), can be provided toguard roller space 563 such that a brace wall 557 can face the detainedroller 555 (FIG. 6D) and can substantially forbid roller 555 (FIG. 6D)to escape. Brace member 559A of a first support plate 566A, can beintended to raise away from roller space 563A and/or away fromco-operating surface 566(A)(1). Support plate/s 566 (FIG. 6D) canfurther comprise a pre-determined distribution of roller space/s 563A/B(FIG. 6E) such that an interval can be maintained between adjacentrollers 555 (FIG. 6D). As a result, single support plate 566 (FIG. 6D)geometry can refrain from providing a continuous circular periphery tothe omni-directional wheel 550.

Continuing to refer to FIG. 6D to FIG. 6G, wherein FIG. 6E depicts apartial explosion of omni-directional wheel 550 depicting a disassemblyof first support plate 566A and second support plate 566B. FIG. 6Efurther depicts engagement of a corresponding roller 555B and rollerbone 554B with second support plate 566B. Engagement of remaining ofcorresponding rollers 555B with second support plate 560B can besubstantially similar. In some configurations, engagement of a pluralityof rollers with first support plate 560A can be substantially similar toengagement between second support plate 560B and its respective roller/s555B. In order to provide a continuous periphery to omni-directionalwheel 550 and convenience in performing rotary motion of wheel 550and/or roller/s 555 (FIG. 6D), first supporting plate 566A can mate withsecond supporting plate 566B such that brace member/s 559A of firstsupporting plate 566A can be accepted in corresponding interval/s 558Bof second supporting plate 566B and vice versa, which can result into acompact omni-directional wheel 550 (FIG. 6D). As a result, singlesupport plate 566 (FIG. 6D) of a completely assembled omni-directionalwheel 550 can comprise at least two variations of brace members 559(FIG. 6D) that can be structurally similar. In some configurations,brace member 559A can extend from first support plate 566A. In someconfigurations, brace member 559B can be a part of to second supportplate 566B. Brace members 559A and 559B can be primarily responsible forengagement of support plates 566A and 566B. Brace member 559A of supportplate 566A can contribute in engaging first support plate 566A withsecond support plate 566B by filling in interval/s 558B that can beprovided on second support plate 566B, possibly causing brace member559A to substantially restrict flex motion of flexible pillars 560B,possibly forming interval/s 558B on second support plate 566B. In someconfigurations, brace member 559B can assist in engagement of secondsupport plate 566B and first support plate 566A by filing in interval/s558A that can be provided on support plate 566A. Brace member 559B canalso cause restriction in flexing of flexible pillars 555A that can forminterval 558A on first support plate 566A. In some configurations,roller 555 (FIG. 6D) and roller bone 554B (FIG. 6E) can be moldedtogether and can rotate together. Second support plate 566B can comprisea plurality of roller/s 555B and corresponding roller bone 554B.Roller/s and corresponding roller bone/s can also be provided by firstsupport plate 566A (FIG. 6E). Roller 555 (FIG. 6D) can be substantiallydetained in roller space 563A/B (FIG. 6G) by way of, but not limited to,engagement with neighboring flexible pillars 560A/B (FIG. 6E). Suchdetainment of roller/s 555 (FIG. 6D) can be caused by trapping nodefeatures 562A/B (FIG. 6F/E) of flexible pillars 560 (FIG. 6D) intosubstantially matching node receptacles 552B (FIG. 6E) that can beprovided on roller bone 554B (FIG. 6E). Roller 555 (FIG. 6D) and rollerbone 554 (FIG. 6E) can be configured to rotate node features 562A/B(FIG. 6E). In some configurations, roller 555B (FIG. 6E) of secondsupport plate 566B (FIG. 6E) and roller bone 554B (FIG. 6E) can rotatewhile being trapped between flexible pillars 560B (FIG. 6E). Roller 555B(FIG. 6E) can be trapped between flexible pillars 560B (FIG. 6E), by wayof receiving node features 562B (FIG. 6E) into node receptacles 552B(FIG. 6E) of roller bone 554B (FIG. 6E).

Referring now to FIG. 6H to FIG. 6M, omni-directional wheel secondconfiguration 580 can be configured to rotate about wheel axis 587 (FIG.6H) for performing a rotational motion. A higher degree of freedom ofrotation can be possessed by omni-directional wheel 580 by means of, butnot limited to, roller/s 590 (FIG. 6H) that can be configured to rotateabout roller axis 589 (FIG. 6H). Roller axis 589 (FIG. 6H) can bedisposed substantially perpendicular to wheel axis 587 (FIG. 6H). Atleast one support plate 585 (FIG. 6H) can be provided onomni-directional wheel 580 such that at least one support plate 585(FIG. 6H) can be disposed substantially perpendicular to wheel axis 587(FIG. 6H) and can contribute in forming a frame of omni-directionalwheel 580. At least one peripheral feature 595 (FIG. 6H) can be disposedalong a circumference of support plate 585 (FIG. 6H). Support plate 585(FIG. 6H) can provide brace members 599 (FIG. 6H) that can be configuredto form roller space 605 (FIG. 6H) collectively with at least oneperipheral feature 595 (FIG. 6H). At least one roller 590 (FIG. 6H) canbe received into a corresponding roller space 605 (FIG. 6H) such that atleast one roller 590 (FIG. 6H) can freely rotate therein duringoperation of omni-directional wheel 580. Omni-directional wheel secondconfiguration 580 can comprise first support plate 585A (FIG. 6I) andsecond support plate 585B (FIG. 6I), that can together form a frame foromni-directional wheel 580. Each of support plates 585A (FIG. 6I) and585B (FIG. 6I) can contribute in formation and/or operating ofomni-directional wheel 580. First support plate 585A (FIG. 6I) cancomprise a plurality of corresponding roller/s 590A (FIG. 6I) that canbe received by corresponding roller space 605A (FIG. 6I). A plurality ofperipheral members 595A (FIG. 6I) can be provided along a circumferenceof first support plate 585A (FIG. 6I). These peripheral members 595A(FIG. 6I), along with a plurality of brace members 599A (FIG. 6I) canprovide at least one roller space 605A (FIG. 6I). Second support plate595A (FIG. 6I) can comprise a plurality of corresponding roller/s 590B(FIG. 6I) that can be received by corresponding roller space 605B (FIG.6I). A plurality of peripheral members 595B (FIG. 6I) can be provided,for example, but not limited to, along a circumference of first supportplate 585B (FIG. 6I). At least one roller space 605B (FIG. 6I) can beprovided by peripheral members 595B (FIG. 6I) and a plurality of bracemembers 599B (FIG. 6I). Double hex star cavity 585A-1 can enable bothhalves of wheel second configuration 580 to be manufactured in the sameway.

Referring now primarily to FIG. 6J to FIG. 6M, that collectivelyillustrate mating of first support plate 585A with second support plate585B along with engagement of roller/s 590 with their respective supportplates 585 (FIG. 6H). FIG. 6J depicts an exploded view ofomni-directional wheel second configuration 580 and engagement of singleroller 590B (FIG. 6J) with second support plate 585B. Other roller/s 590(FIG. 6K) can be engaged in a substantially similar manner to singleroller 590B (FIG. 6J). Roller 590B (FIG. 6J) can be configured tocontain roller stem 591B (FIG. 6J), and together roller 590B (FIG. 6J)and roller stem 591B (FIG. 6J) can perform a rotational motion. Rollerstem 591B (FIG. 6J) can be configured to engage roller 590B (FIG. 6J)with support plate 585B (FIG. 6J) such that roller 590B (FIG. 6J) androller step 591B (FIG. J) can together perform rotational motion. Atleast one stem nub 592B (FIG. 6J) can be provided by roller stem 591B(FIG. 6J) to aid in engaging roller 590B (FIG. 6J) with support plate585B (FIG. 6J).

Referring now primarily to FIG. 6K, separation 606 can be configuredbetween support plates 585A and 585B. Peripheral features 595 of supportplates 585A/B can provide crate 593 that can be configured to receivestem nubs 592 therein. In some configurations, stem nubs 592 of roller590 can be received in crates 593 of peripheral features 595 and cancause roller 590 to settle in roller space 605A/B (FIG. 6J).

Referring now to FIG. 6J, because sides 585A and 585B are assembled withan angular misalignment, hold 585A-1 (FIG. 6I) can be patterned suchthat a hex shaft would fit through side 585A but not through side 585Bwhen the two sides are connected. Different part designs can be used toovercome the misalignment in which the design of side 585A can include ahex bore that is rotated 30° from the design of side 585B. The sameplate can be used for both sides if a doubled-up hex bore is used. Thedoubled-up hex bore can be created by patterning a single hex bore in a30° rotation. The resulting 12-pointed star is identical every 30°instead of 60° (a hex bore). Alternatively, a third common central hubpiece could be used.

Referring now primarily to FIG. 6I, roller 590B, of second support plate585B, can be disposed into roller space 605B by receiving nubs 592B intocrate 593B that can be defined by adjacent peripheral members 595B. Asimilar disposition of roller 590A can be provided on first supportplate 585A. Engagement of support plates 585 (FIG. 6H) can cause bracemember 599 (FIG. 6L) of one of support plates 585 (FIG. 6J) to trap stemnubs 592 (FIG. 6K) of roller 590 (FIG. 6K) of an opposing support plate585 (FIG. 6H). In some configurations, complementing crate 601 can beprovided on incoming brace member 599 (FIG. 6L) of an opposing supportplate 585 (FIG. 6H).

Referring now primarily to FIG. 6K, complementing crate 601 of bracemember 599 (FIG. 6L), of opposing support plate 585 (FIG. 6H), can formtunnel trap 606 with crate 593 which can be provided on peripheralmember 595 of a support plate 585A/B that can receive opposing supportplate 585A/B.

Referring now primarily to FIG. 6M, first support plate 585A can matewith second support plate 585B such that peripheral member 595B ofsecond support plate 585B can receive brace member 599A of first supportplate 585A, possibly establishing mating of support plates 585A, 585Band trapping stem nub 592 in tunnel trap 606 that can be defined byengaging peripheral member 595B and brace member 599A. This geometry canbe alternately repeated along a circumference of omni-directional wheelsecond configuration 580 (FIG. 6J) to provide a substantially continuousand smooth periphery to omni-directional wheel second configuration 580(FIG. 6J). Omni-directional wheel second configuration 580 (FIG. 6J) cancause a forward and/or backward drive of electromechanical agent secondexample configuration 76 (FIG. 5). In some configurations,omni-directional wheel second configuration 580 (FIG. 6J) can provide aside-ward and/or diagonal drive to electro-mechanical agent firstexample configuration 75 (FIG. 4), in a direction substantially parallelto omni-directional wheel axis 551 (FIG. 6D). Presence of at least oneomni-directional wheel second configuration 580 (FIG. 6J) onelectro-mechanical agent second example configuration 76 (FIG. 5) canenable reduced-friction turns.

Referring now to FIG. 6N to 6U, electro-mechanical agent secondconfiguration 76 (FIG. 5) can be configured to acquire anomni-directional drive by providing at least one mobility module suchas, for example, but not limited to, omni-directional wheel thirdconfiguration 630. Omni-directional wheel third configuration 630 canprovide motion in forward and backward directions, substantially similarto traction wheel 93 (FIG. 6A) and a motion in a side-ward or diagonaldirection, the side-ward direction can be substantially perpendicular toframe 633 of omni-directional wheel third configuration 630.Omni-directional wheel third configuration 630 can comprise anomni-direction travel feature by virtue of components such as, but notlimited to, at least one roller 655 that can be disposed peripherallyabout frame 633. Roller/s 655 can be arranged to provide a substantiallycontinuous and uniform and/or even circumference to omni-directionalwheel third configuration 630. Such disposition of roller/s 655 canprovide uninterrupted operation of each roller 655 during operation ofomni-directional wheel third configuration 630. Omni-directional wheelthird configuration 630 can comprise first side 635 (FIG. 6N) and secondside 637 (FIG. 6O). First side 635 (FIG. 6N) can be an engaging side ofomni-directional wheel third configuration 630 such that first side 635(FIG. 6J) can face a driving module attached to omni-directional wheelthird configuration 630 by way of axle receiver 640. Axle receiver 640can be configured to serve as one of many engaging means for attachingomni-directional wheel third configuration 630 with electro-mechanicalagent second example configuration 76 (FIG. 5). In some configurations,omni-directional wheel third configuration 630 can be engaged withelectro-mechanical agent first example configuration 75 (FIG. 4) by wayof geared ring 645. Geared ring 645 can be annularly disposed on firstside 635 (FIG. 6N) and/or second side 637 (FIG. 6O). Gear teeth 644 ofgeared ring 645 can be configured to mesh with an engaging module and/ora driving module that can comprise complementing geared teeth.Omni-directional wheel third configuration 630 can comprise an engagingmeans such as, for example, but not limited to, engagement aperture/s660 (FIG. 6O). Engagement aperture/s 660 (FIG. 6O) can be configured toattach omni-directional wheel third configuration 630 to one or moremodules by way of fasteners and/or inserts that can be received throughapertures/s 660 (FIG. 6O) and retained therein.

Referring now primarily to FIG. 6P to FIG. 6Q, first side 635 (FIG. 6P)and second side 637 (FIG. 6Q) of omni-directional wheel thirdconfiguration 630 (FIG. 6O) are depicted. Omni-directional wheel thirdconfiguration 630 (FIG. 6O) can comprise a plurality of roller pockets665 that can be disposed substantially along a periphery of first side635 (FIG. 6P) and periphery of second side 637 (FIG. 6Q). Pockets 665can be distributed such that, on receiving roller/s 655 (FIG. 6O) inpockets 665, roller/s 655 (FIG. 6O) on first side 635 (FIG. 6P) can beoffset with respect to roller/s 655 (FIG. 6O) that can be provided onsecond side 637 (FIG. 6Q). In some configurations, pockets 665 can bedisposed to provide interval 670 between adjacent roller/s 655 (FIG.6O), which can provide operational feasibility to received roller/s 655(FIG. 6O) and can cause roller pocket 665 on one side, e.g. first side635 (FIG. 6P), to face interval 670 between adjacent roller pocket/s665, provided on, for example, second side 637 (FIG. 6Q), and viceversa.

Referring now primarily to FIG. 6R to FIG. 6U, engagement and retainingof roller/s 655 with omni-directional wheel third configuration 630.Roller 655 can comprise at least one roller nub 673, by way of whichroller 655 can be retained in roller pocket 655. Roller nub 673 can beoptionally provided on at least one terminating end of roller 655.Roller pocket 665 (FIG. 6U) can comprise a cavity that can be configuredto receive the body of roller 655, along with nub platforms 675 (FIG.6U) that can be configured to receive roller nubs 673 of incoming roller655. In some configurations, roller nubs 673 can include pins that canextend through rollers 655. Locking pin 650 can be provided to retainroller 655 in roller pocket 665 (FIG. 6P). Locking pin 650 can compriseroof 653 and at least one insert 652. Retaining of roller 655 can beachieved by allowing locking pins 650 to substantially occupy interval670 between adjacent roller/s 655. Roof 653 of locking pin 650 can beconfigured to form enclosed case 677 (FIG. 6U) in combination with nubplatform 675 (FIG. 6U) of roller pocket 665 (FIG. 6U). Disposition oflocking pin 650 on interval 670 can cause at least one roller nub 673 tobe trapped in enclosed case 677 (FIG. 6U).

Referring now to FIGS. 6U-1 and 6U-2, an exemplary embodiment ofmobility module 6006 can include an omni-directional wheel. Mobilitymodule 6006 can be configured to provide a traction wheel-like drivei.e. in forward and backward direction to electro-mechanical agent 75(FIG. 3) along with an added feature of avoiding friction whenelectro-mechanical agent 75 (FIG. 3) is desired to move sideways. Aplurality of drive features can be provided to electro-mechanical agent75 (FIG. 3) due to addition of omni-directional wheels and placement ofthe wheels in a pre-determined fashion. Module 6006 can comprise firstplate 6010A and second plate 6010B. Rollers 6070 can be captured betweenplates 6010A and 6010B and can be disposed along a periphery of module6006. A hub portion 6050 can disposed substantially central to module6006. Hub portion 6050 can comprise at least one bore 6015 surrounded bya pre-set hole pattern 6009. Hub portion features can be jointlyemployed to achieve an engagement between module 6006 and one or moreother supplementary modules of electro-mechanical agent 75 (FIG. 3).

Referring now to FIGS. 6U-3 and 6U-4, features that can aid capturing ofrollers 6070 between plates 6010A and 6010B can be depicted through apartially or completely exploded view of module 6006. Each plate 6010Aand 6010B can comprise a core region and a peripheral region configuredto mate with each other providing a primary wheel body. The peripheralregion of each plate can comprise hands extending away from therespective core regions and further distributed to provide pockets forreceiving rollers there between. Plate 6010A can comprise a first coreregion 6008A and a first peripheral region 6007A. Hands of the firstperipheral region 6007A can be disposed to provide pockets 6080A. Thesehands can define contours 6011 that face the mating plate, and can serveto at least partially capture roller support 6075 therein. Acomplementing set of contours 6012 can be provided on hands of secondperipheral region 6007B belonging to second plate 6010B. Mating of handsof respective peripheral regions 6007A and 6007B can cause rollersupports 6075 to be captured there between. As a result, rollers 6070that surround roller support 6075 can be distributed and disposed incomplete pockets formed from combining partial pockets 6080A and 6080Bof respective plates 6010A and 6010B. Hub portion 6050 can furthercomprise a pre-set hole pattern 6009 with a central bore 6015 andsurrounding apertures 6009, configured to allow engagement betweenmodule 6006 and one or more supplementary modules of electro-mechanicalagent 75 (FIG. 3).

Referring now to FIGS. 6U-5 and 6U-6, exploded views of module 6006 caninclude pre-set hole pattern 6009 that can be distributed between plates6010A and 6010B. In some configurations, hole pattern 6009 can becommitted to one of the plates 6010A and 6010B. In some configurations,plate 6010B can include hole pattern 6009 within hub portion 6050, andplate 6010A can comprise a recess 6055 configured to accept hub portion6050 and hole pattern 6009 therein. Various mechanical features can beprovided to engage plate 6010A with 6010B. Some of the engagementmethods can include, but are not limited to including, providing a twistand lock arrangement between plates, providing a raised protrusion suchas a ring or threads on one plate that can be accepted in correspondingcavities on other plate, providing aligned apertures on two plates thatcan accept a bolt and screw for engagement, providing a flexible snap onfeatures that can align with one or more hooks on opposing plates.Plates 6010A and 6010B can be engaged through welding techniques, suchas but not limited to hot gas welding, heat sealing, high frequencywelding, injection welding, ultrasonic welding, friction welding etc. Insome configurations, more than one engagement method can be used tocombine plates 6010A and 6010B. In some configurations, central bore6015 can be disposed with a pre-determined phase relationship with thedisposition of rollers 6070 along periphery of module 6006. A completelycircular circumference or circular profile of the module 6006 can beachieved by a combination of at least two modules 6006 disposed at aphase relationship of 180° from one another on a single shaft. Such anarrangement can cause rollers 6070 of first module 6006 to fill in gapsbetween rollers of second module 6006. In configurations having an oddnumber of rollers 6070, the arrangement described herein can be achievedthrough a pre-calculated phase relationship between hex bore 6015 andeven number rollers 6070 placed along the circumference of module 6006.A “double wheel” configuration can be achieved through the arrangementdescribed herein.

Referring now to FIGS. 6U-7 through 6U-9, in some configurations,central bore 6015 can be disposed with a pre-determined phaserelationship with disposition of rollers 6070 along periphery of module6006. A completely circular circumference or circular profile of module6006 can be achieved by a combination of at least two modules 6006disposed at a phase relationship of 180° from one another on a singleshaft, as shown in exemplary assembly 6069. Assembly 6069 can comprisefirst module 6006A with corresponding rollers 6070A and central bore6015A. Assembly 6069 can comprise second module 6006B with correspondingrollers 6070B and bore 6015B. Such an arrangement can cause rollers6070A of the first module 6006A to fill in gaps between rollers 6070B ofsecond module 6006B. In configurations having an odd number of rollers6070, the arrangement described elsewhere herein can be achieved througha pre-calculated phase relationship between hex bore 6015 and evennumber rollers 6070 placed along circumference of module 6006, therebyallowing a user to achieve a “double wheel” configuration.

Referring now to FIGS. 6U-10 through 6U-14, second configurationmobility module 7000 can be similar to mobility module 6006 (FIG. 6U-1)with respect to components and function, but can be dimensionallydistinct. Dimensional variation of module 7000 can cause an alterationin pre-set hole pattern 7009 of hub portion 7030. Dimensional variationcan govern the number of rollers 7020 and their distribution along aperiphery of mobility module 7000. The pre-set hole pattern of hubportion 7030 can comprise at least one central bore 7050 withsurrounding apertures 7040. Constituents of the pre-set hole pattern7009 can be configured to achieve engagement of mobility module 7000with one or more supplementary modules of electro-mechanical agent 75(FIG. 3).

Referring now specifically to FIGS. 6U-10 and 6U-11, mobility module7000 can include an omni-directional wheel. Mobility module 7000 cancomprise first plate 7010A and second plate 7010B. Rollers 7020 can becaptured between first plate 7010A and second plate 7010B, and can bedisposed along a periphery of module 7000. Hub portion 7030 can besubstantially central of module 7000. Hub portion 7030 can comprise atleast one bore 7050 surrounded by a pre-set hole pattern 7009. Hubportion features can be jointly employed to achieve an engagementbetween module 7000 and one or more other supplementary module ofelectro-mechanical agent 75 (FIG. 3).

Referring now to FIGS. 6U-12 and 6U-13, features that aid capturing ofrollers 7020 between plates 7010A and 7010B can include each plate 7010Aand 7010B comprising a core region and a peripheral region configured tomate with each other, providing a primary wheel-body. The peripheralregion of each plate can comprise hands extending away from therespective core regions and distributed to provide pockets for receivingrollers there between. Plate 7010A can comprise first core region 7008Aand first peripheral region 7007A. Hands of first peripheral region7007A can be disposed to provide pockets 7070A. These hands can furtherdefine contours 7011 that face the mating plate and can serve to atleast partially capture roller support 7025 therein. A complementing setof contours 7012 can be provided on hands of second peripheral region7007B belonging to second plate 7010B. Mating of hands of respectiveperipheral regions 7007A and 7007B can cause roller supports 7020 to becaptured there between. As a result, rollers 7020 that surround rollersupport 7025 can be distributed and disposed in complete pockets formedfrom combining partial pockets 7070A and 7070B of respective plates7010A and 7010B. Hub portion 7030 can further comprise a pre-set holepattern 7009 with a central bore 7050 and surrounding apertures 7040,configured to allow engagement between module 7000 and one or moresupplementary modules of electro-mechanical agent 75 (FIG. 3).

Referring now to FIGS. 6U-14 and 6U-15, exploded views of module 7000can include pre-set hole pattern 7009 that can be distributed betweenplates 7010A and 7010B. In some configurations, hole pattern 7009 can becommitted to one of the plates 7010A and 7010B. Plate 7010B can includehole pattern 7009 within hub portion 7030 and plate 7010A that cancomprise recess 7035 configured to accept hub portion 7030 and holepattern 7009 therein. Various mechanical features can be provided toengage plate 7010A with 7010B. Some of the engagement methods caninclude, but are not limited to including, providing a twist and lockarrangement between plates, providing raised protrusion such as a ringor threads on one plate that can be accepted in corresponding cavitieson other plate, and providing aligned apertures on two plates that canaccept a bolt and screw for engagement. Plates 7010A and 7010B can beengaged through welding techniques, such as but not limited to hot gaswelding, heat sealing, high frequency welding, injection welding,ultrasonic welding, friction welding etc. In some configurations, morethan one engagement method can be used to combine plates 7010A and7010B.

Referring now to FIGS. 6V, 6V-1, 6W, 6W-1, 6X, 6X-1, and 6X-2 wheel/tireassemblies 20006-004 (FIG. 6V), 20006-001 (FIG. 6W), and 20006-005 (FIG.6X) can include wheels 30006-005 (FIG. 6V-1), 30006-002 (FIG. 6W-1), and30006-006 (FIG. 6X-1). Tires 20006-004A (FIG. 6V), 20006-001A (FIG. 6W),and 20006-005A (FIG. 6X) can mount to wheels 30006-005 (FIG. 6V-1),30006-002 (FIG. 6W-1), and 30006-006 (FIG. 6X-1) at mounting notches30006-001A that can be of any shape and size that can accommodate Tires20006-004A (FIG. 6V), 20006-001A (FIG. 6W), and 20006-005A (FIG. 6X).Tires 20006-004A (FIG. 6V), 20006-001A (FIG. 6W), and 20006-005A (FIG.6X) can include any shape, thickness, and configuration of tread.Wheel/tire assemblies 20006-004 (FIG. 6V), 20006-001 (FIG. 6W), and20006-005 (FIG. 6X) can include notched shaft cavity 20006-001B that canbe sized to accommodate any shape and size of shaft. Tire 30006-011(FIG. 6X-2) can include mounting cavities 30006-011A (FIG. 6X-2) andtreads 30006-011B (FIG. 6X-2) including manufacturing-friendly spacingand shapes. In some configurations, mounting cavities 3006-011A (FIG.X-2) can be formed by overmolding.

Referring now primarily to FIG. 7, electro-mechanical agent firstexample configuration 75 (FIG. 3) can be built from a modularconstruction kit, and can comprise at least one gear motor 105 as aconstruction module for performing a singular or series of assignedtasks. Gear motor 105 can include into at least two sections. Firstsection 170 can comprise a plurality of gears meshed in a calculatedmanner, the meshed gear arrangement can be referred to as a gearbox or agear drive. Second section 171 can comprise at least one motor 174 suchas, but not limited to, a DC motor, an AC motor, or a combinationthereof, configured to provide an incoming rotational motion to themeshed gears in first section 170. First section 170 and/or secondsection 171 can further comprise at least one sensing agent (not shown)such as, but not limited to an encoder or a continuous potentiometer.The sensing agent can be configured to receive at least one controllercommand from controller module 29 (FIG. 1) and can accordingly executefunctioning of gear motor 105. In some configurations, the at least onesensing agent can receive instructions from modules other thancontroller module 29. The sensing agent can transmit anexecution-response to a module such as, but not limited to, controllermodule 29 (FIG. 1) and/or second communications device 26 (FIG. 1). Insome configurations, gear motor(s) 105 of electro-mechanical agent 23(FIG. 1) can be replaced by or further integrated with a DC motor, an ACmotor, a servo motor, or the like. Choice of a specific motor-type canbe dependent on a number of factors such as, but not limited to, thedegree of rotation and/or torque required by a driven component to whichthe motor can be engaged, whether the location is required to be underdirect supervision of one or more controller modules 29 (FIG. 1) inelectro-mechanical agent 23 (FIG. 1), whether the supplementarymodule/extension module engaged with the motor serves as a driver forone or more remaining of the modules/extension modules ofelectro-mechanical agent 23 (FIG. 1). Mounting ring 169A can includetapped screw receivers.

Continuing to refer to FIG. 7, gear motor 105 can include gearbox 170and gear motor 174. An enclosure for gearbox 170, motor 174 and at leastone sensing element (not shown) can be referred to as gear motorenclosure 172. Gear motor enclosure 172 can be configured to envelop avariety of gearboxes or gear drives. In some configurations, gear motorenclosure 172 can be configured to enclose a plurality of gear drives,wherein the gear drives can be similar and/or dissimilar in nature. Gearmotor enclosure 172 can be built from a material which can qualify for,but is not limited to being, light-weight, heat-resistant, lowmaintenance, corrosion proof and the like, such that gear motorenclosure 172 can be easily include higher or fewer number of componentstherein. Gearbox 170 can comprise a gear-drive, (not shown) wherein thegears can be configured to mesh in a calculated manner to decrease anincoming rotational speed from motor 174 and obtain a higher resultanttorque. The resultant torque can be obtained at output rotor 169. Outputrotor 169 can be configured to engage with a driven supplementarymodule/extension module of electro-mechanical agent 23 (FIG. 1). Thus,gearbox 170 can serve as an interface between driving motor 174 and oneor more driven modules of electro-mechanical agent 23 (FIG. 1).

Continuing to refer to FIG. 7, the gears in gearbox 170 can be, but arenot limited to being, a spur gear, helical gear, herringbone gear,internal-external gears, compound gears, and the like. The enlisted geartypes can be arranged in a plurality of configurations or drives toobtain a desired gear reduction. In some configurations, gear-box 170can obtain a gear reduction of a ratio from about 15:1 to 200:1. In someother configurations, gearbox 170 can obtain a gear-reduction of atleast 80:1. A gear drive in gearbox 170 can be, but is not limited tobeing, a harmonic drive, epicyclical drive or a combination thereofand/or the like. In some configurations, gear-box 170 can provide aplurality of similar and/or dissimilar configurations of gear drives. Inother configurations, various permutations and combinations ofgear—drives can be used for obtaining a desirable resultant torque. Insome configurations, a specific feature of one or more gear drives canbe incorporated into a distinct gear drive to obtain beneficialcharacteristics of plurality of gear sets through a single compact geararrangement.

Referring now primarily to FIG. 8 and FIG. 9, housing 172 (FIG. 7) ofgear motor 105 can be segregated into gear box housing 173 and motorhousing 174. Gear motor 105, without the outer housing can be dividedinto a first portion comprising gearbox 170 and the second portion 171comprising motor 174 and a sensing agent (not shown). Motor 177 can bean AC motor, a DC motor or the like. Choice of the motor can be basedon, for example, but not limited to, a desired torque applied to one ormore driven modules to which gear motor 165 can be engaged. An incomingrotational motion can be generated by motor 177 in second portion 171 ofthe gear motor. The incoming rotational motion can be advanced to a geardrive disposed in portion 170 of the gear motor. The gear drive can beconfigured to alter a speed and torque from the incoming rotationalmotion to a desired speed and torque. The altered speed and torque canexit the gear drive through output-shaft 169. The gearbox and outputshaft 169 can be enveloped in gearbox housing 173. However, outlet 181can be provided in gear-box housing 173 for passing on the resultantspeed and torque from the output shaft to one or more drivensupplementary and/or extension modules of the electro-mechanical agent.Shaft aligner 180 can provide mounting holes, ensure an appropriateplacement of output shaft 169 in gearbox housing 173, and allow transferof speed and torque from output shaft 169 to the one or more drivenmodules, located outside gear-motor 105. Two halves 173 and 174 of thegear motor housing can be coupled by means of coupling fasteners 183. Insome configurations, a single set of coupling fasteners can extend fromfirst portion 173 through gearbox 176 and to second portion 174 of gearmotor 105. In some configurations, gearbox frame 176 can be over moldedwith ring gear 176A and then engaged with second portion 174. As aresult of segregating the gear motor housing into first portion 170 andsecond portion 171, the variety of gearboxes with similar or dissimilargear-drive can be engaged with motor 177. Some configurations canprovide a single continuous housing for the gearbox and the gear motor.In some configurations, power can be delivered to motor 105 throughcapacitor leads 177A (FIG. 9). In some configurations, metal insert 185A(FIG. 10) can be overmolded.

Referring now primarily to FIG. 10, exploded first portion 171 (FIG. 9)comprises principal gear 200 engaged to motor 177 by way of connectingshaft 201. Principal gear 200 can serve as a point of receipt for anincoming rotational motion and torque from motor 177. Thus, motor 177can serve as a driver component in gear motor 105. In accordance with,but not limited to, disposition of principal gear 200 and motor 177,principal gear 200 can be configured to rotate at a rotational speedgenerated from motor 177. Principal gear 200 can be disposed at aterminal end of connecting shaft 201 such that teeth of principal gear200 can extend away from and substantially perpendicular to connectingshaft 201. Additionally, principal gear 200 can be disposed such that itcan be substantial central of gear arrangement of the gear drive.

Continuing to refer to FIG. 10, a plurality of conditional gears 205 canbe disposed surrounding principal gear 200 and positioned substantiallyparallel to connecting shaft 201. Conditional gears 205 can beconfigured to provide first section 205A with a first set of gearedteeth and second section 205B with a second set of geared teeth. Besideshaving a discrete number of geared teeth, first section 205A and secondsection 205B can further be differentiated on the basis of theirrespective diameters. In some configurations, conditional gears 205 cancomprise a plurality of geared sections with distinct number of gearedteeth thereupon and/or distinct diameters. Each of the plurality ofgeared sections of conditional gears 205 can be associated with thesubsequent geared sections such that a rotational motion of any one ofthe geared sections can cause the subsequent sections to rotate atsubstantially similar rotational speeds. In some configurations,rotation of one of the geared sections of conditional gears 205 cancause the subsequent geared sections to rotate at the same speed.Additionally, the geared teeth belonging to one of first geared section205A and/or second geared-section 205B of conditional gears 205 can meshwith the geared-teeth of principal gear 200. For example, geared teethof first geared-section 205A of the surrounding conditional gears canmesh with the geared teeth of centrally located principal gear 200. Asthe result of the meshing, principal gear 200 can be configured to driveconditional gears 205. In some configurations, respective diameters ofthe plurality of geared sections of surrounding conditional gears 205can be larger than the diameter of principal gear 200 such that a lowernumber of rotations of conditional gears 205 can be obtained withrespect to the number of rotations per minute of principal gear 200. Insome configurations, principal gear 200 can be surrounded by apre-determined number of conditional gears 205 such that each of thegeared teeth of principal gear 200 can mesh with an aligned geared toothof at least one geared-section of surrounding conditional gears 205. Forexample, geared teeth disposed in first geared-section 205A ofconditional gears 205 can mesh with the geared teeth of principal gear200.

Continuing to refer to FIG. 10, geared teeth of principal gear 200 canoperatively mesh with the geared teeth of conditional gears 205. Part ofconditional gears 205 can be rested between at least one annular gear209 and principal gear 200, annular gear 209 being disposedsubstantially concentric to a circumference of principal gear 200.Annular gear 209 can comprise an inner surface 208 facing conditionalgears 205 and an outer surface (not shown), facing away from conditionalgears 205. A set of geared teeth can be provided on the inner surface208 of annular gear 209 such that they operatively mesh with the gearedteeth on at least one geared section of one or more conditional gears205. Rotation of principal gear 200 can cause a rotational motion ofconditional gears 205 due to the meshing of the respective gear teeth. Arotational motion of annular gear 209 can be achieved as a result of anoperational meshing of gear teeth of annular gear 209 with conditionalgears 205. In some configurations, conditional gears 205 can potentiallyrotate about their respective axes as well as revolve around principalgear 200 along a circular path concentric with the circumference ofannular gear 209. In some configurations, annular gear 209 can be heldstationary as conditional gears 205 can be configured to rotate abouttheir respective axes and revolve along the inner geared-surface ofstationary annular gear 209. In some configurations, the geared teeth offirst geared-section 205A of conditional gears 205, can be inoperational meshing with centrally disposed principal gear 200 andannular gear 209. While operationally meshed, the geared teeth on anouter circumference of first geared section 205(a) of conditional gear205 can alternatively mesh with geared teeth of principal gear 200 andthe geared teeth of annular ring gear 209.

Referring now to FIG. 11, conditional gears 205 can include, but are notlimited to including, one or more geared sections. Subsequent secondgeared section 205B can rotate due to rotation of first geared-section205A of conditional gears 205, disposed between principal gear 200 (FIG.10) and annual gear 209 (FIG. 10). Output gear 207 can be provided tosurround second geared section 205B of conditional gear 205, such that aset of geared teeth of output gear 207 can circumferentially mesh withthe geared teeth of second geared-section 205(b). Output gear 207 caninclude a ring gear with an inner surface 206 and an outer surface (notshown), and the inner surface can comprise a plurality of gear teethconfigured to mesh with second section 205B of conditional gears 205.Output gear 207 can be disposed substantially co-axial with principalgear 200 and annular gear 209. Output gear 207 can be rotated as aresult of the rotation and/or revolution of second section 205B ofconditional gears 205, around principal gear 200 (FIG. 10). A resultanttorque can be harvested from the gear drive by providing output rotaryconnector 169 engaged with output gear 207. Output rotary connector 169can be engaged with one or more driven supplementary modules and/orextension modules to advance the resultant torque.

Referring now to FIG. 10 and FIG. 11, gear drive can include, but is notlimited to including, gear-aligning elements such as, for example, butnot limited to, gear-aligning elements 187A and 187B. Operation of thegears can be achieved by appropriate alignment of the individual gearsin the gear drive. In general, operation of a gear motor can cause adisorientation of one or more of the participating gears from theirrespective locations. In some gear drives, the resultant torque can beaffected due to the discussed disorientation and/or vibration,sloppiness or any other undesirable movement of the gears when the gearmotor is in operation. To maintain a pre-determined alignment betweenthe gears during the operation of the gear motor, a gear-aligningelement can be configured to ensure that the desired resultant torque isobtained at output rotary connector 169. A gear aligning element can,for example, be a single continuous part or a multi-part element.

Continuing to refer to FIG. 10 and FIG. 11, a first configuration of oneor more exemplary gear-aligning elements can include, but is not limitedto including, a two-part module comprising first part 187A and secondpart 187B. First part 187A and second part 187B can mate together tohouse principal gear 200 and surrounding conditional gears 205, therebetween. Gear-aligning element first part 187A and second part 187B caninclude, but is not limited to including at least on nub 193 that can bereceived in one or more corresponding nub-cavities 191 on conditionalgear 205. Nubs 193 and complementing nub-cavity 191 can be one of themany aligning features of gear-aligning elements 187. Another example ofan aligning feature can be, but is not limited to being, employing oneor more dowel pins 196 to engage first part 187A of the aligning elementand second part 187B of the aligning element. First part 187A and secondpart 187B can further comprise at least one dowel-pin insert 197 thatcan be configured to receive corresponding dowel pin 196, thus engagingthe two parts. First part 187A of the gear-aligning element can comprisea first set of dowel pin inserts 197A wherein dowel pins 196 can besubstantially trapped. In some configurations, a substantial part of theone or more dowel pins 196 can be permanently or temporarily trapped inthe corresponding dowel-pin insert 197 on first part 197A of thegear-aligning element and/or second part 197B of the gear aligningelement. An ally dowel pin insert 197 can be provided on the other ofeither first part 187A or second part 187B, wherein an untrapped orexposed part of dowel pin 196 can be temporarily or permanently receivedto allow mating of first part 187A and second part 187B.

Continuing to refer to FIG. 10 and FIG. 11, gear-aligning element firstpart 187A and second part 187B can include, but are not limited toincluding, at least one spacer 190. First part 187A of the gear aligningelement can comprise a first set of spacers 190A and second part 187B ofthe gear aligning element can comprise a second set of spacers 190B.Spacers 190 can serve to occupy un-operational spaces between and/or inthe vicinity of the participating gears in gear drive 161. Spacers 190can include, but are not limited to including, at least one protrusionin gear-aligning element first part 187A and second part 187B, disposedto substantially cage principal gear 200 and surrounding conditionalgears 205 at their respective positions during operation of gear drive161. In some configurations, spacers 190 can assist nubs 193 and nubreceiving cavity 191, dowel pin 196 and dowel-pin insert 197, inmaintaining the gear alignment of the gear drive. In otherconfigurations, various permutations and combinations of these alignmentfeatures can be used. In some configurations, any one of the discussedalignment features can be used.

Referring now primarily to FIG. 12, FIG. 12A, and FIG. 13, a secondconfiguration of gear aligning element 188 (FIG. 12) can serve toappropriately align participating principal gear 200 and surroundingconditional gears 205 of gear drive 161. Second configuration of gearalignment element 188 (FIG. 12) can include, but is not limited toincluding, terminal discs 188A (FIG. 12) and 188B (FIG. 12). Terminaldiscs 188A (FIG. 12) and 188B (FIG. 12) can be engaged by means ofelongated bars 184 (FIG. 12A) extending through an axial groove (notshown) of conditional gears 205 (FIG. 12), such that the geared-teeth ofconditional gears 205 (FIG. 12) can extend away from elongated bars 184(FIG. 12A) and can be disposed substantially perpendicular to elongatedbars 184 (FIG. 12A). In some configurations, if gear-aligning element188 (FIG. 12A) is a single continuous part, elongated bars 184 (FIG.12A) can be wrapped inside conditional gears 205 (FIG. 12). Wrapping ofelongated bars 184 (FIG. 12A) within the axial grooves (not shown) ofconditional gears 205 (FIG. 12) is shown in the area 206 (FIG. 12). FIG.12A depicts an independent or unwrapped gear aligning element 188 (FIG.12A) to providing clarity in discussion. A third configuration of gearaligning element 189 (FIG. 13) can comprise first part 189A (FIG. 13)and second part 189B (FIG. 13) and can include, but is not limited toincluding, a terminal disc with at least one aligning nub 194 (FIG. 13).Aligning nubs 194 (FIG. 13) can be received by a plurality ofcorresponding nub-inserts 195 (FIG. 13) provided on conditional gears205 (FIG. 13). In some configurations, a combination of gear-aligningelements first part 187A (FIG. 11), second part 187B (FIG. 11), 188(FIG. 12A), 189A (FIG. 13), 189B (FIG. 13) and/or the like can beemployed for ensuring appropriate placement of the participating gearsin the gear drive.

Referring now primarily to FIG. 14, gear motor 105 can be segregatedinto first section 171 comprising motor 177 and second section 170comprising a gear drive with the participating gears. Gear aligningelements first part 189A and second part 189B, can include, but are notlimited to including, at least one nub 194. The at least one nub 194 canbe inserted in the corresponding nub-inserts 195 (FIG. 13) provided onconditional gears 205. Gears can be interactively arranged in gear motor105. One or more principal gears 200 can be disposed such that gearedteeth of principal gear 200 substantially engage with geared teeth of atleast one conditional gears 205 surrounding principal gear 200.Conditional gears 205 can be operatively rested between principal gear200 and at least one annular gear 209. In some configurations, firstsection 205A of conditional gears 205 can comprise a known radius and aknown number of geared teeth. The known number of geared teeth canoperatively mesh with geared teeth of principal gear 200 and gearedteeth of annular gear 209. Conditional gears 205 can further comprisesecond section 205B such that a plurality of geared tooth on secondsection 205B can operatively mesh with a geared surface of output gear207. Output gear 207 can further comprise output rotary shaft 169 suchthat a torque generated by gear motor 105 is advanced to a drivencomponent by means of output rotary shaft 169. In some configurations,annular gear 209 can be held stationary and conditional gears 205 canundergo a rotational motion along with a revolution around an axis (notshown) of principal gear 200. Meshing of the gear teeth on secondsection 205B of conditional gears 205 (FIG. 13) with the geared surface206 (FIG. 11) of output gear 207 can cause output gear 207 to rotateabout a circular path (not shown) substantially coaxial with principalgear 200.

Primarily referring to FIG. 15, gear drive 213 is depicted to support adiscussion on gear-reduction calculation related to the exemplary gearmotor of electro-mechanical agent 23 (FIG. 1). A gear-reduction aims atreducing an incoming rotational speed to a desired rotational speed,thereby obtaining a higher torque output from gear drive 213. Principalgear 217 can be centrally disposed in gear drive 213. For convenience indiscussing the gear reduction calculation, principal gear 217 can bealphabetically represented by ‘I’. Principal gear 217 can comprise N_(I)number of geared teeth. A radius of principal gear 217 can bealphabetically referred to as R_(I). Additionally, principal gear 217can be operatively surrounded by a plurality of conditional gears 230.In some configurations, conditional gears 230 can comprise first section230A with a first set of geared teeth and second section 230B with asecond set of geared teeth. For further explanation of the perspectiveview and ease in discussing the related gear reduction calculation,single conditional gear 230 can be considered. First section 230A ofsingle conditional gears 230 can be referred to as P1 and second section230B can be referred as P2. Similarly, first part P1 of conditional gear230A can comprise N_(P1) number of geared teeth on its meshing surfaceand second part P2 of conditional gear 230 b can comprise N_(P2) numberof geared teeth. In some configurations, conditional gears 230 can be acompound gear such that a first radius of first section 230A can bedenoted by R_(P1) which is distinct from a second radius of secondsection 230B of conditional gear 230 and can be denoted by R_(P2).

Continuing to refer to FIG. 15, the geared teeth of first section 230Aof conditional gears 230 mesh with the geared teeth of fixed annulargear 225. For convenience in discussing gear-reduction calculations,fixed annular gear 225 can be alphabetically represented as ‘G’.Conditional gears 230 can interact with output ring gear 220. Outputring gear 220 can be alphabetically represented by ‘D’. Output ring gear220 can comprise a plurality of geared teeth on a surface in contactwith conditional gears 230. Hence a plurality of geared teeth can meshwith the geared teeth of output ring gear 220. In some configurations,geared teeth in first part P1 of conditional gear 230 can substantiallymesh with the geared teeth on annular gear 225 whereas the geared teethon second part P2 of conditional gears 230 can substantially mesh withthe geared teeth on output ring gear 220. Centrally disposed principalgear 217 can be configured to undergo rotational motion when connectedwith a motor (not shown) by means of motor shaft 215.

Continuing to refer to FIG. 15. Rotational velocities of each componentin gear drive 213 can be represented by the following symbols:

Alphabetical Representation for Component representation rotationalvelocity Rotational velocity of principal I ω_(I) gear 217 Rotationalvelocity of first section P₁ ω_(P1) of the conditional gear 230ARotational velocity of second P₂ ω_(P2) section of the conditional gear230B Rotational velocity of the output D ω_(D) ring gear 220 Consideringa central axis of the — ω_(precession) gear drive, a precession velocityof the participating gears 230A/B during operation of the gear motor 105Rotational velocity of the — ω_(gear-symbol/precession) participatinggears with respect to precession of the conditional gears P

Continuing to refer to FIG. 15, rotational velocity of principal gear217 can be obtained by the expression:

ω_(I)=ω_(I/precession)+ω_(precession)

where ω_(I)=rotational velocity of sun gear I 217,ω_(precession) can represent precision velocity of sun gear I 217,during operation of gear motor 105 (FIG. 14), andω_(I/precession) can represent rotational velocity of the sun gear I 217with respect to precession of the conditional gears P.

The rotational velocity of principal gear 217 can be obtained by anaddition of the precession velocity of principal gear 217 and rotationalvelocity of principal gear 217, where the rotational velocity ofprincipal gear 217 added due to the precession effect during operationof gear-drive 213. A surface speed of principal gear 217 can be obtainedby ω_(I)*R_(I), where R_(I) stands for the radius of principal gear 217.In some configurations, annular gear 225 can be held stationary, as aresult of which a precession speed of conditional gears 220 can be halfof the surface speed of principal gear 217. As a result, the precessionrotational velocity of conditional gear 230 can be represented as

$\begin{matrix}{\omega_{precession} = \frac{\frac{s}{z}\omega_{I}r_{I}}{r_{I} + r_{p_{1}}}} & (1)\end{matrix}$

For convenience in calculation, a constant ‘k’ can be considered toobtain a relationship between radius R_(P1) and number of geared teethN_(P1) of the respective component of the gear drive. On substitutingthe values in equation (1), the following equation can be obtained:

$\begin{matrix}{\omega_{precession} = {\frac{\frac{s}{z}\omega_{I}{kN}_{t}}{{kN}_{I} + {kN}_{P_{1}}} = {\frac{1}{2}\frac{N_{I}}{N_{I} + N_{P_{1}}}\omega_{I}}}} & (2)\end{matrix}$

The following table can be considered for providing relationship betweenrotational velocity of the participating gear with rotational velocityof the participating gear with respect to a precession effect:

Gear x ω_(x/precession) ω_(x) Relationship to previous Iω_(I)−ω_(precession) ω_(I) (known) N/A P₁${- \frac{N_{I}}{N_{P_{1}}}}\left( {\omega_{I} - \omega_{precession}} \right)$ω_(P) ₁ (not sought)$\omega_{P_{1}\text{/}{precession}} = {{- \frac{N_{I}}{N_{P_{1}}}}\omega_{I\text{/}{precession}}}$P₂${- \frac{N_{I}}{N_{P_{2}}}}\left( {\omega_{I} - \omega_{precession}} \right)$ω_(P) ₂ (not sought) ω_(P) ₂ _(/precession) = ω_(P) ₁ /_(precession) D${- \frac{N_{I}}{N_{P_{1}}}}\frac{N_{P_{2}}}{N_{D}}\left( {\omega_{I} - \omega_{precession}} \right)$${{- \frac{N_{I}}{N_{P_{1}}}}\frac{N_{P_{2}}}{N_{D}}\left( {\omega_{I} - \omega_{precession}} \right)} + \omega_{precession}$$\omega_{D\text{/}{precession}} = {\frac{N_{P_{2}}}{N_{D}}\omega_{P_{2}\text{/}{precession}}}$

For determining the final output velocity at output ring gear 220,substituting the above obtained equations:

$\begin{matrix}{\omega_{D} = {{{- \frac{N_{1}}{N_{P_{1}}}}\frac{N_{P_{2}}}{N_{D}}\left( {\omega_{i} - {\frac{1}{2}\frac{N_{I}}{N_{I} + N_{P_{1}}}\omega_{i}}} \right)} + {\frac{1}{2}\frac{N_{I}}{N_{I} + N_{P_{1}}}\omega_{i}}}} \\{= {{{- \frac{N_{I}}{N_{P_{1}}}}\frac{N_{P_{1}}}{N_{D}}\omega_{i}} + {\frac{1}{2}\frac{N_{I}}{N_{P_{1}}}\frac{N_{P_{1}}}{N_{D}}\frac{N_{I}}{N_{I} + N_{P_{1}}}\omega_{i}} + {\frac{1}{2}\frac{N_{I}}{N_{I} + N_{P_{1}}}\omega_{i}}}} \\{= {\left( {{{- \frac{N_{I}}{N_{P_{1}}}}\frac{N_{P_{2}}}{N_{D}}} + {\frac{1}{2}\frac{N_{I}}{N_{P_{1}}}\frac{N_{P_{2}}}{N_{D}}\frac{N_{I}}{N_{I} + N_{P_{1}}}} + {\frac{1}{2}\frac{N_{I}}{N_{I} + N_{P_{1}}}}} \right)\omega_{i}}}\end{matrix}$

Further simplification and division can produce the gearbox ratio, asfollows:

$R = {\frac{\omega_{i}}{\omega_{D}} = \frac{2}{{\frac{N_{I}}{N_{I} + N_{P_{1}}}\left( {{\frac{N_{I}}{N_{P_{1}}}\frac{N_{P_{2}}}{N_{D}}} + 1} \right)} - {2\frac{N_{I}}{N_{P_{1}}}\frac{N_{P_{2}}}{N_{D}}}}}$

Continuing to refer to FIG. 15, in some configurations, a larger gearreduction can be obtained as values of the radii of annular gear 225 andoutput ring gear 220 come close. In some configurations the gearreductions can be at least 80:1. Additionally, the number of gearedteeth on any of the participating gears in gear drive 213 can influencethe gear-reduction value. The following table logs a series of gearsizes with respect to the number of geared teeth on respective gearssuch as principal gear 217, conditional gears 230, annular gear 225 andoutput ring gear 220:

First Second section of section of Principal conditional conditionalGear gear gear Gear Ring Gear Output I P1 P2 Ratio G D 10 20 17 62.6666750 47 10 23 20 81.26667 56 53 10 26 23 102.2667 62 59 10 32 29 151.466774 71 10 38 35 210.2667 86 83 14 22 19 57.61905 58 55 14 28 25 89.3333370 67 14 34 31 127.9048 82 79 14 43 40 198.619 100 97 15 24 21 64 63 6015 30 27 96 75 72 15 36 33 134.4 87 84 15 42 39 179.2 99 96 16 32 29102.6667 80 200 16 35 32 121.0417 86 83 16 38 35 140.9167 92 89 16 41 38162.2917 98 95 16 44 41 185.1667 104 101

Referring now to FIG. 15A, modular construction kit can include a secondexemplary configuration of gearmotor 2000. This exemplary configurationcan be employed in conjunction with or replace first exemplary gearmotor105 (FIG. 7) and can be configured for generating desirable torque tofulfill one or more tasks of exemplary electromechanical agent 75 (FIG.3). Gearmotor 2000 can include an enclosure that can form a continuouscovering to guard one or more torque producing mechanisms (not shown)within the enclosure. In some configurations, the enclosure can comprisefirst enclosure covering 2005A and second enclosure covering 2005B.First and second enclosure coverings 2005A, 2005B can enclose torqueproducing mechanisms by travelling and uniting along horizontal axis2006. Engagement of first and second enclosure plates 2005A, 2005B canprovide a cavity or space 2007 (FIG. 15B) for accommodating torqueproducing mechanism therein.

Continuing to refer to FIG. 15A, gearmotor 2000 can be divided intofirst portion 2002 and second portion 2004. First portion 2002 cancomprise a plurality of gears meshed to produce a resultant desirableoutput torque. The plurality of gears can be collectively referred to asa gear drive (not shown). Output window 2009A on connecting plate 2010Aand an analogous output window on connecting plate 2010B (FIG. 15C) canserve as outlets for resultant torque derived from the enclosed geardrive. An output shaft (not shown) of gear drive can extend from outputwindow 2009A and the analogous output window on connective plate 2010B(FIG. 15C) to engage with a module outside of gear motor 2000 for torquetransfer. In some configurations, connecting plates 2010A and 2010B canbe further configured to engage with other modules, such as but notlimited to, elementary unit 85 (FIG. 15H), of the construction kit. Thisengagement can be achieved by providing engagement means such as, butnot limited to, engagement holes or engagement nubs that can receive orbe accepted by complementing nubs or holes of engaging modules. Someconfigurations of the engaging holes can comprise threads configured toaccept threads of an incoming screw. In some configurations, gearmotor2000 can include coupling holes 2011A and 2011B (FIG. 15C) on connectingplates 2010A and 2010B (FIG. 15C), respectively. Second portion 2004 canhouse a motor such as a DC motor or AC motor or a combination of two.The motor can be chosen from diverse motor sizes for providing variedincoming torque that can be modified by gear drive to obtain a desirableoutput torque.

Referring now primarily to FIG. 15A-1 enclosure 5000 of gear motor 2000(FIG. 15A) can comprise at least one gear drive 5070 (FIG. 15C-1) thatcan be substantially similar to gear drive in gear motor 2000 (FIG.15A). In some embodiments, gear drive 5070 of enclosure 5000 cancomprise a higher number of gears than the gears located in gear motor2000, and the higher number of gears can be distinctly oriented withrespect to the gears of gear motor 2000. It should be noted thatpreviously discussed features related to gear drives 2002, 2002A (FIG.15C and FIG. 15F); gear motor 2015 (FIG. 15C), sensing agent or encoder2003 (FIG. 15B) can also be applicable to gear drive 5070 (FIG. 15C-1)and motor 5077 (FIG. 15C-1) and sensing agent 5078 (FIG. 15C-1) ofexemplary enclosure 5000. Alteration in gear number and change inorientation can cause crowding of gears in first portion 5015 ofenclosure 5000. Desirable functioning of gear motor 2000 can be achievedat least by ensuring a compact enclosure, such as but not limited to,enclosure 5000 for gear drive and the motor therein. This requirementcan be fulfilled by providing fastening aids in terms of permanent ornon-permanent joints. In some configurations, non-permanent joints suchas, but not limited to, screw-nut, bolts, clamps, clasps, clips,latches, pins, rivets, etc. can be included. Exemplary enclosure 5000can comprise fastening agents 5060 that can be distributed along body ofenclosure plates 5050A and 5050B. Enclosure 5000 can further providefastening slots 5065 for receiving at least one fastening agent 5060therein. In some configurations, the fastening agent can be a screw witha head and a threaded body configured to enter enclosure plate 5050A andthrough gear motor 2000, exiting from enclosure plate 5050B. Orientationof the screw can be reversed. A plurality of screws in combination withother fastening agents can be employed on enclosure 5000. In someconfigurations, employed screws can be self-tapping screws.

Referring now to FIG. 15B and FIG. 15C, first enclosure covering 2005Aand second enclosure covering 2005B can provide a cavity or space 2007there between, configured to enclose motor 2015 and gear drive 2012.First enclosure covering 2005A and second enclosure covering 2005B caninclude features that can accommodate various gear and motorconfigurations. For example, standoffs 2007A can accommodate variousshapes and sizes of motors. Slot 2007B can accommodate motor plate 2014that can include various shapes, widths, and diameters. Any of motors2015 that meet certain size requirements of first and second enclosurecoverings 2005A/2005B can be accommodated by gearmotor 2000 of thepresent teachings. First enclosure covering 2005A and second enclosurecovering 2005B can include features that can accommodate various gearconfigurations, for example, output winder 2009A (FIG. 15A) that canmake torque transmission possible. First enclosure covering 2005A andsecond enclosure covering 2005B can accommodate an infinite number ofgear configurations, two of which are illustrated herein. The presentteachings are not limited to the gear configurations presented herein.In some configurations, motor 2015 can be a permanent magnet DC motorconfigured to provide an incoming rotational motion of 5000 RPM to 20000RPM. Motor 2015 can further comprise first end 2013 and second end 2014.Sensing agent 2003 can occupy first end 2013 of motor 2015. Motor 2015can be controlled by the controller according to signals that sensingagent 2003 can receive from outside of gearmotor 2000. Sensing agent2003 can include, but is not limited to including, an encoder or acontinuous potentiometer configured to provide to the controller module29 (FIG. 1) signals that can assist in proper control of gear motor2000.

Continuing to refer to FIG. 15B and FIG. 15C, gear drive 2012 can beengaged to motor plate 2014 of motor 2015. A motor shaft (not shown)belonging to motor 2015 can transfer an initial torque to gear drive2012. Gear drive 2012 can comprise a plurality of gears such as, forexample, but not limited to one or more spur gears, helical gears,herringbone gears, internal-external gears, compound gears and the like.Meshed gears can provide a desirable torque output. In someconfigurations, first portion 2002 can comprise more than one gear driveconfigured to mesh with each other and can provide torque output.Connecting plates 2010A and 2010B can couple with output shaft 2050(FIG. 15C) that can carry the resultant torque. Output shaft 2050 canextend from first connecting plate 2010A to second connecting plate2010B allowing torque transfer from either side.

Referring to FIG. 15C-1, the interior of enclosure 5000 can includefirst portion 5070 that can include at least one gear drive, and asecond portion 5075 that can include a motor 5077 with sensing agent5078. Functioning of motor 5077 and sensing agent 5078 can be similar tothe functioning of the motor and sensing agents of gear motors inconfigurations described herein. Desirable reduction in torque can varyfrom one gear drive to another, determined by, but not limited to beingdetermined by, number of gears and gear-teeth, type of gears, andorientation or arrangement of gears. FIG. 15C-1 further depicts a thirdgear drive configuration. A plurality of gear combinations can beemployed in gear drive 5070. First gear 5100 can serve to receiverotational motion from a motor shaft (not shown) through motor 5077.Rotational motion can travel through the gear drive until final out gear5500 and engages with output shaft 5700. Mounting rings or plates 5080Aand 5080B can sandwich output shaft 5700 and can further providecorresponding torque transfer bores 5085A and 5085B. Apertures 5086A and5086B on respective mounting rings can assist in engagement withenclosures 5050A and 5050B, respectively, as shown in FIG. 15A-1.Sensing agent 5078 can serve to communicate with a controller (notshown) from outside of gear motor 2000A and provide data that can assistthe controller with operation of gear motor 200A. Addition or deletionof fastening agents 5060 (FIG. 15A-1) can demand alteration indimensions of sensing agent 5078 to allow its accommodation withinenclosure 5000 (FIG. 15A-1).

Referring now to FIG. 15D and FIG. 15E, output motor shaft (not shown)from motor 2015 (FIG. 15C) can rotatably couple with at least one inputgear 2020. Coupling of input gear 2020 and output motor shaft can occuralong rotational axis 2016 that can be parallel or travel through bodyof motor 2015 (FIG. 15C). Input gear 2020 can transfer incoming torqueto crown gear 2025. In addition to reduction or alteration of torque,disposition and interaction of input gear 2020 and crown gear 2025 canalso cause an alteration in direction of the incoming rotational torque.In some configurations, the direction can be altered by 90°. In someconfigurations, diverse disposition and geometry of crown gear 2025 canobtain a desirable alteration in changing the direction of incomingtorque. A first stage of torque reduction can be completed byinteraction of input gear 2020 and crown gear 2025. In someconfigurations, input gear 2020 can include 10 teeth and can interactwith the geared teeth of crown gear 2025 that can include 30 teeth,causing a reduction of 3:1 during the first stage. The reduction can bealtered by altering the number of geared teeth.

Continuing to refer to FIGS. 15D and 15E, crown gear 2025 can furthercomprise more than one set of gear teeth. A first set of geared teeth2025A can mesh with geared teeth of input gear 2020 while a second setof geared teeth 2025B can mesh with subsequent gears to transfer torque.A varied set of geared teeth belonging to a single gear can be disposedalong a common axis. Some configurations of gear drive 2012 can comprisea plurality of compound gears that can provide a plurality of gearedteeth sets and that can overcome space constraints between enclosurecoverings 2005A (FIG. 15B) and 2005B (FIG. 15B). Second set of gearedteeth 2025A can mesh with at least one set of geared teeth 2030A offirst intermediate gear 2030. Similar to crown gear 2025, firstintermediate gear 2030 can also comprise more than one set of gearedteeth. In some configurations, second set of geared teeth 2025B caninclude 10 teeth that can mesh with 32 teeth of first set of gearedteeth 2030A. This interaction can be a second stage of reduction causingtorque reduction of 3.2:1.

Continuing to refer to FIG. 15D and FIG. 15E, second intermediate gear2030 can mesh with a third intermediate gear 2035 through second set ofgeared teeth 2030B and first set of geared teeth 2035A. First set ofgeared teeth 2030A and second set of geared teeth 2030B can be distantlydisposed to allow an uninterrupted meshing with their respective partnergeared teeth. Interaction of gear teeth 2030B and gear teeth 2035A cancause a third stage of reduction in received torque. In someconfigurations, second set of geared teeth 2030B can include 10 teethand can interact with first set of geared teeth 2035A that can include25 teeth, causing a reduction of 2.5:1 in the third stage. Thirdintermediate gear 2035 can be a compound gear with a second set ofgeared teeth 2035B. In some configurations, first set of geared teeth2035A and second set 2035B can be distantly arranged, to allow alignmentof partner meshing gear teeth. Gear teeth 2035B can mesh with outputgear 2039 to reach a final reduction stage. In some configurations, aplurality of intermediate gears can be added before final stage. Thenumber of intermediate gears and their respective teeth can depend onrequired reduction in output torque. Second set of geared teeth 2035Bcan comprise 11 teeth while output gear 2039 can comprise 33 gearedteeth, causing a final stage reduction of 3:1.

Continuing to refer to FIG. 15D and FIG. 15E, output gear 2039 cansurround output shaft 2050. The torque of output gear 2039 can becarried by output shaft 2050 outside gear drive 2012. Output shaft 2050can partially or completely couple with engagement plates 2010A, 2010B(FIG. 15B and FIG. 15C). Such an engagement can be achieved byaccommodating corresponding ends of output shaft 2050 within respectiveoutput windows 2009A (FIG. 15A and FIG. 15C) and the analogous outputwindow on connective plate 2010B (FIG. 15C). Output window 2009A (FIG.15C) can be dimensioned to allow output shaft 2050 to rotate with atorque that equals output torque of gear drive 2012. In someconfigurations, output window 2009A (FIG. 15C) and the analogous outputwindow on connective plate 2010B (FIG. 15C) can serve as an engagementjunction for torque transfer from gear motor 2000 to at least one moduleoutside gear motor 2000. In some configurations, output shaft 2050 cancomprise a hex path to receive a corresponding hex shaft therein, thehex shaft being coupled to a module required to rotate at the desiredoutput torque obtained from gear motor 2000. In some configurations,other engagement mechanisms can be used for coupling output shaft 2050with engagement plates 2010A, 2010B and for engaging of output shaft2050 with modules outside of gear motor 2000 for torque transfer.

Referring to FIG. 15E-1, third embodiment of gear drive 5070 cancomprise a first gear 5100 configured to be in direct contact with amotor shaft from motor 5077 (FIG. 15C-1). First gear 5100 can in turnadvance the received torque to crown gear 5200, causing a pre-determinedchange in direction of the received torque. In some embodiments, thechange in direction can vary and can be determined by orientation orplacement of one or more crown gears 5200, and also tooth-profile ortooth contours of the meshing crown gear 5200. This variation can causea change in angular relationship between an incoming torque axis 5155and an outgoing torque axis 5165. Crown gear 5200A can include acompound gear comprising a first integrated set of gear teeth 5200B.Gear drive 5070 can optionally comprise a washer 5600 configured toavoid wearing of integrated gear 5200B and wear of enclosure 5000 duringoperation of gear drive 5070. Rotational motion of crown gear 5200A cancause a substantially similar rotational motion of integrated gear-set5200B. At least one gear set of a second gear arrangement 5300 can bemeshed with first integrated gear set 5200B to receive torque therefrom. Second gear arrangement 5300 can also be a compound geararrangement or comprise one or more gears over a common shaft sharing anaxis of rotation. In FIG. 15E-1, second gear arrangement can comprise afirst participating gear 5300A and a second participating gear 5300B.First gear 5300A can mesh with the integrated gear set 5200 of crowngear 5200A, thereby receiving the torque and causing resultantrotational motion of second participating gear 5300B. At least one gearof a third arrangement 5400 can mesh with one or more gears of thesecond gear arrangement 5300. In some configurations, secondparticipating gear 5300B of the second gear arrangement can mesh with afirst participating gear 5400A of the third gear arrangement 5400. Suchan engagement can cause rotational motion of second participating gear5400B of the third gear arrangement. Such a meshing of gear and geararrangements can be continued until the rotational force is transferredto the final output gear. In this case the final output gear can includegear 5500. Rotation of gear 5500 can cause rotation of output shaft5700, where output shaft 5700 is configured to engage with at least onemodule of the electro-mechanical agent 75 (FIG. 3).

Referring now to FIG. 15E-2, exemplary gear motor 2000A can includeinteraction between first gear 5100 and crown gear 5200B. Gear drive5070 comprises crown gear 5200B with teeth contours distinct from thoseof earlier discussed crown gears. A pre-calculated tooth profile ofcrown gear teeth can determine an appropriate and desirable torquetransfer form first gear 5100 to crown gear 5200B. In someconfigurations, a base 5205 of crown gear may be thicker than a base ofcrown gear profiles described elsewhere herein. Added material in base5205 can ensure higher tolerance to vibrations or other undesirablemotions caused due to operation of gear motor 2000A. It should be notedthat the tooth profile of crown gear 5200B and thickness of its base5205 can vary in different gear drives and may be governed by thereduction expectation of the gear drive.

Referring now to FIG. 15F and FIG. 15G, a variety of gear combinationscan be employed in gear motor 2000 that can be conveniently disposedtherein. Each gear drive can be coupled with a suitable motor size thatmay be similar or different from the motor depicted in givenconfigurations. Thus, a variety of combinations of gear drives andcorresponding motor sizes can be accommodated in space provide byenclosure coverings 2005A, 2005B (FIG. 15B). In some configurations,gear drive 2002A can be accommodated within space 2007 (FIG. 15B)between enclosure coverings 2005A, 2005B (FIG. 15B). Gear drive 2002Acan comprise gears with a different number of geared teeth as comparedto gears of gear drive 2012 (FIG. 15D and FIG. 15E), thereby causing analteration in torque output. In some configurations, gear drive 2002Acan provide a lower reduction than the reduction provided by gear drive2012.

Continuing to refer to FIGS. 15F and 15G, input gear 2060 can receiveincoming torque from motor 2015 (FIG. 15C) and transfer it to crown gear2070 by meshing with a first set of gear teeth 2070B. Crown gear 2070can be disposed to cause directional alteration of received torque at adesirable angle. In some configurations, the disposition of crown gear2070 and the angles of gear teeth 2070A and gear teeth 2060 can affectthe output torque. Gear drive 2002A can allow the direction of theincoming torque to change by 90°, following interaction of input gear2060 and crown gear 2070. Second set of geared teeth 2070B of crown gear2070 can mesh with first intermediate gear 2080, thus achieving a secondstage of torque reduction. A second stage of torque reduction can beachieved by interaction of second gear teeth set 2080B of firstintermediate gear 2080 with gear teeth set 2090A of second intermediategear 2090. Intermediate gear 2090 can further comprise a second set ofgear teeth 2090B configured to mesh with output gear 2095, thusachieving final stage of torque reduction. Output gear 2095 can includeoutput shaft 2099 that can rotate at a torque equal to the output torqueof gear 2095. Output shaft 2099 can be configured to pass on finaltorque to at least one module outside of gearmotor 2000.

Referring now to FIG. 15G-1, exemplary tooth geometries of crown gears2070 (FIG. 15G), 2025 (FIG. 15E) and 5200 (FIG. 15E-1) can beresponsible for varying reduction outputs from their respective geardrives, and can include a compound gear type of crown gears. Thecompound gear feature can be compromised depending on reductionexpectation from the gear drive. First exemplary crown gear 2070 cancomprise a first crown gear portion 2070A and an integrated geared teethset 2070B. A second exemplary crown 2025 can comprise a second crowngeared portion 2025A and a second integrated geared teeth 2025B.Integrated geared teeth of exemplary crown gears 2070 and 2025 can varywith respect to the size or teeth number from one gear drive to another.The two crown gears can be encompassed with the remainder of their geardrive in a single enclosure, substantially similar to enclosure 5000(FIG. 15A-1). Third crown gear example 5200 can comprise a crown gearportion 5200A and an integrated geared teeth set 5200B. Teeth profile ofcrown gear teeth in third example 5200 can be distinct from teethprofile of other crown gear examples described herein. Base 5205 ofthird example 5200 can be higher in thickness with added material thatcan increase tolerance of the crown gear 5200 during operation of itsgear drive. Crown gear examples 2070, 2025 and 5200 can illustrate theuse of these or any other crown gear geometry in gear motor examplesdescribe elsewhere herein.

Referring now primarily to FIG. 15H and FIG. 15I, first assembly 3010and second assembly 3020 depict a first position and second position,respectively for engaging exemplary gearmotor 2000 with one or moremodule/supplementary modules in constructing electromechanical agent 75(FIG. 3 and FIG. 4). Gearmotor 2000 can be coupled to at least onemodule through engagement plates 2010A, 2010B (FIG. 15C). First assembly3010 and second assembly 3020 depict engagement of gear motor 2000 withelementary unit 85 through exemplary bracket 90K. Engagement plates2010A, 2010B (FIG. 15C) can comprise coupling holes 2011A and 2011B(FIG. 15C), respectively. First engagement plate 2010A can operablycouple with facing exemplary bracket 90K while second engagement plate2010B can extend away from bracket 90K or vice versa. Coupling holes2011A and 2011B (FIG. 15C) can be disposed at an angle offset from oneother, allowing gearmotor 2000 to vary its engagement angle with, inthis case, bracket 90K. As a result, gearmotor 2000 can be disposed inmore than one position while engaging with other modules of theconstruction kit. Varied configurations of gearmotor 2000 can varyoffset angle between coupling holes 2011A and 2011B (FIG. 15C), thusgiving multiple placement and mounting options for gearmotor 2000.Because the shaft is perpendicular to the motor, the motor and shaft canbe located in tight spaces.

Referring now to FIG. 15J, potentiometer 20018 can measure angularposition of shaft 135 passing through its center and, therefore,components sharing shaft 135 such as, for example, gear 30002-009 andthe components rotating synchronously with gear 30002-009 such as, forexample, wheel 30006-002. Potentiometer 20018 can provide data that canbe used for control of components described herein.

Referring now to FIGS. 15K-150, potentiometer 20018 (FIG. 15K) caninclude, but is not limited to including, shaft mount 30018-002 (FIG.15L), upper housing 30018-004 (FIG. 15M), shaft collar 30018-003 (FIG.15K), sensor mount 30018-001 (FIG. 15N), sensor 50018-001A (FIG. 15K),and lower housing 30018-005 (FIG. 15O). Sensor 50018-001A (FIG. 15K) canreceive power from and provide sensor data to circuit board 50018-090(FIG. 15K), upon which sensor 50018-001A (FIG. 15K) is mounted.Power/data jack 50018-001B (FIG. 15K) can provide the power interfaceand data input/output for circuit board 50018-090 (FIG. 15K), and can bemounted on circuit board 50018-090 (FIG. 15K). In some configurations,shaft mount 30018-002 (FIG. 15L) can include hex shaft fitting30018-002A (FIG. 15L) that can accommodate hex shaft 135 (FIG. 15J), andinternal geometry to accommodate sensor 50018-001A (FIG. 15K) andexternal geometry 30018-002D (FIG. 15L) to accommodate shaft collar30018-003 (FIG. 15K). Mounting brace 30018-002C (FIG. 15L) can stabilizeshaft mount 30018-002 (FIG. 15L) and therefore stabilize sensor50018-001A (FIG. 15K). Mounting brace 30018-002C (FIG. 15L) can retainconnection with input shaft 30018-002. Rotation protrusion 30018-002B(FIG. 15L) can interface with rotation stop 30018-001B (FIG. 15N) tocontrol the subtended angle of potentiometer 20018 (FIG. 15K). Upperhousing 30018-004 (FIG. 15M) can accommodate the geometry of shaftcollar 30018-003 (FIG. 15K) in opening 30018-004D, and can providerecessed fastening 30018-004B (FIG. 15M) of upper housing 30018-004(FIG. 15M) through lower recesses 30018-004C (FIG. 15M) and sensor mount30018-001 (FIG. 15N) to lower housing lower housing 30018-005 (FIG. 15O)at recesses 30018-005A (FIG. 15O). In some configurations, spaceconsiderations can be accommodated by chamfered edges 30018-004A (FIG.15M), 30018-001F (FIG. 15N), and 30018-005C (FIG. 15O). Sensor mount30018-001 (FIG. 15N) can interconnect sensor 50018-001A (FIG. 15K) withshaft mount 30018-002 (FIG. 15L), providing standoffs 30018-001D/E (FIG.15N) to accommodate the geometry of circuit board 50018-090 (FIG. 15K)and sensor 50018-001A (FIG. 15K), and standoffs 30018-001H (FIG. 15N) toaccommodate power jack 50018-001B (FIG. 15K). Lower housing 30018-005(FIG. 15O) can include connector cavity 30018-005B (FIG. 15O) that canaccommodate power jack 50018-001B (FIG. 15K), among other connectors.Lower housing 30018-005 (FIG. 15O) can include recessed compartments30018-005D (FIG. 15O) that can, for example, but not limited to, reducethe weight of potentiometer 20018 (FIG. 15K). Recessed compartments30018-005D (FIG. 15O) can support circuit board 50018-090 (FIG. 15K) andprovide room for protruding elements of circuit board 50018-090 (FIG.15K).

Referring primarily to FIG. 16 and FIG. 17, controller module 150 ofelectro-mechanical agent first example configuration 75 (FIG. 3) canserve as a brain or control center or control system that can beconfigured to operate mechanical and electrical supplementary modulesand/or extension modules of the electro-mechanical agent. In someconfigurations, second communications device 26 (FIG. 1 and FIG. 2) canoptionally serve as a processing and/or a decision making unit whilecontroller module 150 can be an input/output hardware configured toexecute instructions obtained from second communications device 26. Insome configurations, a controller module 150 and second communicationsdevice 26 can be integrated into a single unit. Controller module 150and/or second communications device 26 (FIG. 1 and FIG. 2) can befurther configured to serve as a computational and a communicationsplatform. Additionally, controller module 150 and/or secondcommunications device 26 (FIG. 1 and FIG. 2) can be configured to decodeprogramming instructions embedded therein or received by controllermodule 150 from an external device. In some configurations, the incominginstructions can be received by controller module 150 by way ofcommunicators 5 (FIGS. 1 and 2) and/or second communications device 26that can be configured to communicate with a plurality of user interfacedevices 16 (FIG. 1) disposed remotely from the electro-mechanical agentfirst example configuration 75 (FIG. 3).

Continuing to refer primarily to FIG. 16 and FIG. 17, controller module150 can include, but is not limited to including, controller enclosure239. As previously discussed, the controller module can comprise theelectronics of the electro-mechanical agent 75 (FIG. 3). In someconfigurations, the electronics in controller module 150 can be embeddedon a printed circuit board or PCB 240 (FIG. 18) that can be enveloped inenclosure 239. In some configurations, enclosure 239 can be a singlecontinuous component comprising one or more PCBs 240 (FIG. 18). One ormore PCB 240 (FIG. 18) can include, but is not limited to including, aplurality of ports provided to communicate with the supplementarymodules and/or extension modules of electro-mechanical agent firstexample configuration 75 (FIG. 3). In some configurations, enclosure 239can be multi-part module wherein the parts can come together to encloseone or more PCB 240 (FIG. 18). In some configurations, enclosure 239 caninclude, but is not limited to including, cover portion 238 and baseportion 242. Cover portion 238 can be received by base portion 242,thereby sandwiching the PCB 240 (FIG. 18) there between. Cover portion238 can be engaged with base portion 242 by means of fasteners that canbe received in the engagement points. A first set of engagement points237 (FIG. 17) can be provided on for example, a peripheral region ofcover portion 238 and base portion 242. A second set of engagementpoints 236 (FIG. 17) can be provided on cover portion 238 and baseportion 242. At least one connection port 241 can be provided onenclosure 239, for example, motor/encoder shared ports. Connection ports241 can be configured to receive connectors (not shown) from the one ormore supplementary modules and/or extension modules of theelectro-mechanical agent first example configuration 75 (FIG. 3).Grounding plane 241A can enable grounding for PCB 240 (FIG. 18).

Referring now primarily to FIGS. 18 and 19, controller module 150 caninclude, but is not limited to including, cover portion 238 and baseportion 242 and an electronics board or printed circuit board 240substantially disposed between cover portion 238 and base portion 242.In some configurations, a plurality of printed circuit boards 240 can beenclosed between cover portion 238 and base portion 242. In someconfigurations, PCB 240 can comprise at least one electronic componentconfigured to execute instructions issued from second communicationsdevice 26 (FIG. 1) and accordingly issue controller commands for atleast one supplementary module and/or extension module of theelectro-mechanical agent 23 (FIG. 1). Electro-mechanical agent 23 cancomprise a plurality of electrical and mechanical modules thereupon.These electrical and/or mechanical modules and the modules external toelectro-mechanical agent 23 can be in constant information exchangethrough wired and/or wireless mode. There can be a high possibility ofgeneration of static electricity in and/or around electro-mechanicalagent 23 (FIG. 1). Generation of static electricity can cause anelectro-static discharge (ESD) event that can interfere with functioningof PCB 240. Any disturbance to the desired functioning of the at leastone electronic component on PCB 240 can cause a detrimental impact onfunctioning of modules and/or extension modules of theelectro-mechanical agent 23 (FIG. 1). The ESD event can be routed to ESDsuppression points. Controller module 150 (FIG. 17) can provide at leastone ESD suppression means for safeguarding the at least one electroniccomponent from ESD events that can be produced within and/or external toPCB 240. At least one diversion diode 243 (FIG. 18) can be provided onPCB 240 to capture an incoming ESD event and optionally ground the ESDevent. In some configurations, diversion diodes 243 (FIG. 18) can bedisposed substantially close to connector junction 241 (FIG. 18) thatcan be configured to connect PCB 240 to at least one module external tocontroller module 150. Electrical channels (not shown) on PCB 240 canroute the at least one incoming ESD event to ESD suppression points 245by way of diversion diodes 243. Corresponding ESD suppression points 246can also be provided on base portion 242 of the enclosure.

Continuing to refer to FIG. 18 and FIG. 19, PCB 240 can provide at leastone connector junction 241 (FIG. 18) that can be configured to receiveconnectors from at least one module external to controller module 150.An ESD event occurring external to controller module 150 can optionallyenter PCB 150 through entry points such as, but not limited to,connector junction 241 (FIG. 18). Such an ESD event can be an unwantedsignal and can be captured by diversion diodes 243 (FIG. 18) that can bedisposed substantially close to connector junction 241 (FIG. 18).

Referring now to FIG. 19A, an optional disposition of connectorjunctions 241 and corresponding diversion diodes 243 is depicted.Diversion diodes 241 can be configured to channel at least one incomingESD event to one or more ESD suppression points 245. The one or more ESDsuppression points can be optionally disposed at terminating ends of PCB240 and can be in conductive communication with corresponding ESDsuppression points that can be provided on base portion 242 of thecontroller module enclosure 150. At least one fastener (not shown) madefrom a substantially conducting material can be received through ESDsuppression points 245 and 246 (FIG. 19) such that a received ESD eventcan be conducted out of PCB 240 by way of the at least one fastener (notshown). The at least one fastener can also be configured to engage PCB240 with base portion 242 (FIG. 19). Controller module 150 can bemounted on base platform 80 (FIG. 5) of electro-mechanical agent firstexample configuration 75 (FIG. 3) such that at least one ESD event canbe channelized through ESD suppression points 245, 246 (FIG. 19) towardsbase platform 80, thus grounding the ESD. In some configurations,controller module 150 can comprise electro-magnetic compatibility (EMC)features (not shown) to eliminate at least one ESD event that can beproduced within PCB 240.

Referring now primarily to FIG. 20 and FIG. 21, electro-mechanical agent23 (FIG. 1) can be constructed from a plurality of supplementary modulesand extension modules to achieve at least one assigned task. In someconfigurations, electro-mechanical agent 23 (FIG. 1) can includeadditional supplementary modules and/or extension modules that cancontribute in performing the at least one assigned task. Additionalelectronic components on controller module 29 (FIG. 1) can be providedto cope with additional input/output signals in system 21 (FIG. 1). Insome configurations, the required addition of the electronics can bedone on a single PCB 240 (FIG. 19). In some configurations, anadditional controller module 29 (FIG. 1) can provide supplementaryelectronic components embedded on PCB 240 (FIG. 19) that can, forexample, but not limited to, enable smooth functioning of electroniccomponents on PCB 240 (FIG. 19) and conformance to dimensionalconstraints of controller module 29 (FIG. 1). Additional controllermodule 29 (FIG. 1) can be stacked with others of controller modules 29(FIG. 1).

Continuing to refer to FIG. 20 and FIG. 21, base portion 242 (FIG. 20)of controller module 150, can include, but is not limited to including,base frame 232 (FIG. 21). A width of base frame 232 (FIG. 21) can bedistinct from an overall width of base portion 242. Base portion 242 canfurther comprise a first surface (not shown) that can face PCB 240 (FIG.19) of controller module 150 (FIG. 18) and a second surface 236 that canface a module on which controller module 150 (FIG. 18) can be mounted.The second surface 236 can further comprise first region 236A (FIG. 21)that can be beveled towards the first surface (not shown) of baseportion 242 and second region 236B (FIG. 21) that can be adjacent tofirst region 236A (FIG. 21). Second region 236B (FIG. 21) can be incontact with a module (not shown) on which controller module 150 can bemounted. Beveled portion 235 (FIG. 21) can serve as a connecting surfacebetween first region 236A (FIG. 21) and second region 236B (FIG. 21). Insome configurations, first region 236A (FIG. 21) of the second surfaceof base portion 242 can be beveled to receive cover portion 238 (FIG.20) of another controller enclosure 150 (FIG. 19). A plurality ofcontroller enclosures 150 (FIG. 19) can be stacked such that baseportion 242 of first controller enclosure 150 (FIG. 19) can receivecover portion 238 (FIG. 20) of second controller enclosure 150 (FIG.219). This engagement can be repeated for a plurality of controllermodules 29 (FIG. 1) engaged with electro-mechanical agent 23 (FIG. 1).Engagement points 237 (FIG. 21) and/or ESD suppression points 246 (FIG.18) on each of stacked controller enclosures 150 (FIG. 19) can bealigned and can collectively engage with electro-mechanical agent 23(FIG. 1) by way of at least one fastener.

Referring now to FIGS. 21A and 21B, second exemplary controller module4004 can comprise at least one programmable controller and a mechanicalenclosure configured to house one or more programmable modules andprovide engagement with one or more modules of exemplaryelectro-mechanical agent 75 (FIG. 3). In some configurations, controller4004 can include an integration of at least one computer module,described elsewhere herein, that can be programmed as per userrequirements in a language suitable for operation of electrical andmechanical module electro-mechanical agent 75 (FIG. 3). Computer modulecan include, for example, but not limited to, an ANDROID® module or aLINUX® module or an open source language compatible module. Someexamples of computer modules can include, but are not limited toincluding, ARDUINO® controller, RASPBERRY PI®, and SNAPDRAGON®. Someconfigurations can include more than one computer module and/or computermodules of more than one type. Programming of the module can graduatethe module to communicate with at least one user interface that isconfigured to generate user commands or instructions for operation ofelectro-mechanical agent 75 (FIG. 3). These instructions can beforwarded to at least one hardware controller board, described elsewhereherein. The hardware controller board can provide the required circuitryfor operation of all the electrical and mechanical modules ofelectro-mechanical agent 75 (FIG. 3). The controller module can beconfigured to house at least one computer module and at least onehardware controller module therein.

Continuing to refer to FIGS. 21A and 21B, housing of controller module4004 can comprise top cover 4010 that can be constructed to providecompartment 4012 to receive at least one computer module. Top cover 4010can further comprise connection ports for establishing wired connectionsbetween control module, hardware controller module circuitry and theelectrical and mechanical modules of electro-mechanical agent 75 (FIG.3). In some configurations, a peripheral region of top cover 4010 cancomprise connection port cavities such as, for example, but not limitedto, battery connector port cavities 4060, general purpose connector portcavities 4030 that can include cavities that can accommodate digitalconnectors, analog input connector port cavities 4032, I2C connectorport cavities 4033, connector port cavities 4034 configured to connectadd-on controller modules (not shown) that can comprise additionalhardware controller modules, or an expanded version ofelectro-mechanical agent 75 (FIG. 3), USB port cavities 4040, 4080,4090, not limited to regular, micro USB and mini USB, daisy chainconnector cavities 4050 for power, HDMI connection port cavities 4070,servo motor connector port cavities 4075, +5V power connector portcavities 4078, and encoder connector port cavities. Controller moduleenclosure 4004 can further comprise at least one button (not shown) topair controller module enclosure 4004 with electro-mechanical agent 75(FIG. 3). Module enclosure 4004 can further provide at least one statusindicator means (not shown) for determining real-time status ofelectro-mechanical agent 75 (FIG. 3) and can also serve as debuggingmeans for electro-mechanical agent 75 (FIG. 3). Base 4015 can mate withtop portion 4010 to substantially envelope computer module and hardwarecontroller module therein.

Referring now to FIGS. 21C through 21F, top enclosure cover 4010 can beconfigured to comprise slots that can be molded with body of cover 4010for connection port cavities described herein. Connection slots can becustomized to incorporate each port from an interior 4009 of enclosure4010 to exterior 4008. Top cover 4010 can provide at least oneengagement point for coupling top cover 4010 with base 4015 and with atleast one module of electro-mechanical agent 75 (FIG. 3). Base 4015 ofcontroller module enclosure 4004 can comprise internal face 4013committed towards top cover 4010 and external face 4015 facing away fromtop cover 4010. Internal face 4013 can be sectioned to appropriatelyalign a plurality of circuits of hardware controller module. Base 4015can comprise engagement points 4115 and 4110 that can align withengagement points of top cover 4010 to allow coupling therewith alongwith pairing of coupled module 4004 with at least one module ofelectro-mechanical agent 75 (FIG. 3).

Referring now to FIG. 21G, disengagement of top cover 4010 of controllermodule enclosure 4004 reveals an exemplary disposition of computermodule 50012-002 and hardware controller module 50012-030. Boards50012-002 and 50012-030 can be affixed through at least one set ofpairing features (not shown) and can be jointly engaged with base 4015.Controller enclosure 4004 can capture second configuration controllermodule 50012-030 physically at, for example, but not limited to, severalpoints between the upper and lower enclosure parts. In someconfigurations, four screws can hold the upper and lower enclosure partstogether. Two screws can go directly through second configurationcontroller module 50012-030 and cause the upper and lower enclosureparts to pinch second configuration controller module 50012-030,resulting in a strong fit. The other two screws can be contained withinhollow bosses that can protrude through second configuration controllermodule 50012-030. Features of the upper enclosure can pinchcommunications module 50012-002, and there can be a few bosses extendingfrom the upper enclosure that can touch off on the surface ofcommunications module 50012-002, and mounting holes that can help locatethe board and prevent it from moving upwards. Downward movement isconstrained by connection 50012-002A (FIG. 21I)

Referring now to FIG. 21H, second configuration controller module50012-030 can receive commands and translate those commands toinstructions for the components of the system. Second configurationcontroller module 50012-030 can include, but is not limited toincluding, external power connectors 50012-0301 and motor connectors50012-030J that can receive and provide power. External power connectors50012-0301 can support daisy chaining power to other controller modules50012-030 enabling a system that can be powered by a single battery.Second configuration controller module 50012-030 can include externalcommunications board connection 50012-030H that can enable interfacewith external communications board 50012-002. The position of externalcommunications board connection 50012-030H can enable compact stackingof circuit boards that can reduce space consumption. The height ofexternal communications board connection 50012-030H can enable clearanceabove second configuration controller module 50012-030 and ventilationfor the circuit boards. Second configuration controller module 50012-030can include connectors that can conduct input/output with servos50012-030G, auxiliary power 50012-030F, analog input 50012-030E, andGPIO 50012-030D. Second configuration controller module 50012-030 caninclude I2C ports 50012-030C that can support multiple sensors, daisychained in a bus, as long as the multiple sensors have different I2Caddresses. Second configuration controller module 50012-030 can includeRS485 50012-030B and UART 50012-030A connectors. The 4-pin connectors onsecond configuration controller module 50012-030 can include pin outsthat can protect second configuration controller module 50012-030 andsensors from damage if they become engaged with the wrong connector.

Referring now to FIG. 21I, external communications board 50012-002 canprovide communications between second configuration controller module50012-030 and external components such as peripherals and remoteprocessors. External communications board 50012-002 can receive commandsfrom an external application and provide those commands to secondconfiguration controller module 50012-030 through connector 50012-002Ato provide direction and control to the components of theelectro-mechanical agent. External communications board 50012-002 caninclude, but is not limited to including, peripheral connectors50012-002D, computation electronics 50012-002B, communications circuitry50012-002C, and communications sensors 50012-002E. In someconfigurations, external communications board 50012-002 can include a32/64-bit CPU, 1 GB of storage, and camera/video support. In someconfigurations, external communications board 50012-002 can support Wifi802.11, BLUETOOTH® protocol, and USB and HDMI connections. In someconfigurations, a DRAGONBOARD® circuit board from Qualcom, Inc. canprovide communications functionality.

Referring now primarily to FIG. 22, FIG. 23, and FIG. 24, sensor housingfirst example configuration 250 can comprise receiving pedestal 255 andslidable covering 265. Receiving pedestal 255 can comprise mountingplatform 259. Mounting platform 259 can be figured to engage withelementary unit 80 (FIG. 5). Mounting platform 259 can further comprisemounting groove 260 for engaging sensor housing first exampleconfiguration 250 with one or more elementary units and/or one or moresupplementary modules and/or extension modules of electro-mechanicalagent 23 (FIG. 1). A sensor board (not shown) can be disposed betweenslidable covering 265 and receiving pedestal 255.

Continuing to refer to FIG. 22, FIG. 23, and FIG. 24, receiving pedestal255 can further comprise pedestal-compartment 261 (FIG. 22) whereinslidable covering 265 (FIG. 22) can be rested. In some configurations,slidable covering 265 (FIG. 22) can be guarded by wall 262 (FIG. 23) ofpedestal compartment 261. Slidable covering 265 (FIG. 22) can provide aplurality of resting bends 266 (FIG. 23) that can serve as a platform toallow one or more sensor circuit boards and/or sensor encoder (notshown) to rest thereupon, and to flex, preventing rattle. Verticalretention means 265A (FIG. 23) can enable secure interconnection ofslidable covering 265 within pedestal compartment 261 (FIG. 23), andsnap feature 266A (FIG. 23) can extend the width of slidable covering265. First window 264 (FIG. 23) can be provided on slidable covering 265(FIG. 22) such that the electrical components on a sensor circuit boardcan perform a sensing operation. The sensing operation of sensor 37(FIG. 1) housed in sensor housing 250 can be enabled by way of secondwindow 263 (FIG. 23), provided on pedestal compartment 261 (FIG. 23) ofreceiving pedestal 255 (FIG. 22). Sensor housing first exampleconfiguration 250 can comprise floor 267 (FIG. 24). Mounting of sensorhousing first example configuration 250 can cause floor 267 (FIG. 24) tobe in contact with at least one module (not shown) on which sensorhousing first example configuration 250 can be mounted. Floor 267 (FIG.24) can comprise a plurality of aligning nubs 269 (FIG. 24). Exemplarysensors 145 (FIG. 3) can be engaged with elementary unit 85 (FIG. 3)such that mounting platform 259 (FIG. 22) can be fastened on anattachment groove of elementary unit 85 (FIG. 3). Aligning nubs 269(FIG. 24), provided on floor 267 (FIG. 24) of sensor housing firstexample configuration 250 can enable a substantially sturdy engagementbetween sensor housing first example configuration 250 and elementaryunit 85 (FIG. 3). A longitudinal engagement groove on elementary unit 85(FIG. 3) can be configured to receive nubs 269 (FIG. 24) when sensorhousing first example configuration 250 is mounted on elementary unit 85(FIG. 3). Presence of nubs 269 (FIG. 24) can restrict sensor housingfirst example configuration 250 to pivot about a fastener configured toattach housing 250 with elementary unit 85 (FIG. 3) by way of mountinggroove 260 (FIG. 24). Width 269B (FIG. 24) can match the width ofelementary unit 85 (FIG. 3). Floor 267 and surface 267A (FIG. 24) can becoplanar.

Referring now primarily to FIG. 25, FIG. 26 and FIG. 27, sensor housingsecond example configuration 251 can further comprise base portion 253(FIG. 25) and top covering 266. Top covering 266 can be configured tosubstantially occupy base portion 253 (FIG. 25) and partially or fullyenclose a pre-determined area of base portion 253. In someconfigurations, base portion 253 (FIG. 25) can be divided into a firstarea 253A enclosed by top covering 266 and a second area 253B (FIG. 26)configured to mount sensor housing second example configuration 251 onan elementary unit and/or a supplementary module and/or extension moduleof electro-mechanical agent first example configuration 75 (FIG. 3). Topcovering 266 can be an inverted cup structure enclosing first area 253A(FIG. 26) of base portion 253 (FIG. 25). A sensor circuit can bedisposed within the first area enclosed by top covering 266. Topcovering 266 can further provide at least one operation window 275A(FIG. 25) configured to perform a sensing operation by way of one ormore sensor circuits disposed therein. A second area 253B (FIG. 26) ofbase portion 253 (FIG. 25) can comprise mounting groove 270 to allowengagement of sensor housing second example configuration 251 on amounting module such as but not limited to, elementary unit 85 (FIG. 3)by way of at least one fastener.

Referring now to FIG. 26, base portion 253 can comprise fenced ground278 configured to be enclosed by top covering 266. Base portion 253 canalso include engagement facility 276 for allowing engagement of baseportion 253 with top covering 266. Engagement fastener 277 can beemployed under and through engagement facility 276 into upper engagementmeans 274 to assist with this engagement. Top covering 266 can furtherprovide enclosure walls 268 that can rest on base portion 253 such thatfence 275 of fenced ground 278, is enclosed within walls 268 as topcovering 266 mates with base portion 253. Top covering 266 can furthercomprise fastener receiver 264 configured to receive engagement fastener277 through engagement facility 276 assisting in base portion 258.

Referring now primarily to FIG. 27, floor area 279 of sensor housingsecond example configuration 251 is shown. Base portion 258 (FIG. 26)can attach with elementary unit 85 (FIG. 3) by way of one or morefasteners configured to enter one or more corresponding mounting grooves270 provided on mounting platform 258 (FIG. 26) of base portion 253(FIG. 26). Exemplary sensors 145 (FIG. 3) can be engaged with elementaryunit 85 (FIG. 3) by way of at least one fastener. Floor area 279 of baseportion 258 (FIG. 26) can provide a plurality of nubs 280A/B configuredto align sensor housing second example configuration 251 when mounted.Nubs 280A/B can include protrusions of diverse dimensions, extendingfrom floor area 279 of base portion 258 (FIG. 26). A longitudinalengagement groove (not shown) on elementary unit 85 (FIG. 3) can beconfigured to receive nubs 280A/B when sensor housing second exampleconfiguration 251 is mounted on elementary unit 85 (FIG. 3). Nubs 280A/Bcan enable a substantially sturdy engagement between sensor housingsecond example configuration 251 and elementary unit 85 (FIG. 3) and canrestrict sensor housing second example configuration 251 from pivotingabout a fastener configured to attach sensor housing second exampleconfiguration 251 with elementary unit 85 (FIG. 3) by way of engagementgroove 270. In some configurations, at least two types of nubs 280A and280B can be provided. Nubs 280A can be employed for alignment whensensor housing second example configuration 251 is placed perpendicularto elementary unit 85 (FIG. 3) in width 280C, while nubs 280B can beemployed for alignment when sensor housing second example configuration251 is disposed parallel to elementary unit 85 (FIG. 3) in width 280D.Engagement fastener 277 can be used for engagement between sensorhousing second example configuration 251 and elementary unit 85 (FIG.3).

Referring now to FIGS. 27A-1 and 27A-2, third example sensorconfiguration 20014 can include a sensor that can, for example, senselight impinging upon modular electro-mechanical agent 75 (FIG. 3) uponwhich third example sensor configuration 20014 can be mounted, anddetect proximity of objects by casting light on them and sensing theintensity of the reflected light. Third example sensor configuration20014 can include, but is not limited to including, upper housing30014-001, lower housing 30014-002, and mounting protrusion 30014-002A.In some configurations, third example sensor configuration 20014 can bemounted upon extrusion 85 (FIG. 3) and can be appropriately positionedto sense environmental parameters important to modularelectro-mechanical agent 75 (FIG. 3), for example. Lower housing30014-002 (FIG. 27A-3) can include mounts 30014-001K, 30014-0010 (FIG.27A-3) that can operably couple with attachment mount cavities30014-001D, 30014-001E (FIG. 27A-4) by means of flexing in both housingcomponents, to maintain secure coupling between upper housing 30014-001(FIG. 27A-4) and lower housing (FIG. 27A-3) to protect sensor equipment.Lower housing 30014-002 (FIG. 27A-3) can include lower alignment means30014-001L (FIG. 27A-3) that can operably mate with upper alignmentmeans 30014-001M (FIG. 27A-4) through alignment hole 30014-0011 (FIG.27A-5) in sensor board 30014-001C (FIG. 27A-5), thus stabilizing sensorboard 30014-001C (FIG. 27A-5) and the associated sensor to insureaccurate readings. Lower housing can include mounting protrusion30014-002A (FIG. 27A-3) and mounting cavity 30014-001N (FIG. 27A-3) thatcan enable mounting of third example sensor configuration 20014 (FIG.27A-2) onto extrusion 85 (FIG. 3). Chamfered ends 30014-001Q (FIG.27A-3), 30014-001J (FIG. 27A-4) can enable accommodation for space andelimination of sharp edges, among other advantages. Upper housing30014-001 (FIG. 27A-4) can include sensor cavity 30014-001A (FIG. 27A-4)that can allow the sensor upon sensor board 30014-001C (FIG. 27A-5) tointerface with the environment. Sensor board 30014-001C (FIG. 27A-5) caninclude, for example, resistors 30014-001C3/C4 (FIG. 27A-5), capacitors30014-001C2/C5/C9 (FIG. 27A-5), diode 30014-00106 (FIG. 27A-5), andconnection means 30014-001C1/C7 (FIG. 27A-5). In some configurations,connection means 30014-001C1 (FIG. 27A-5) can accommodatepower/communications jack 30014-001B (FIG. 27A-5). Integrated circuit30014-001C8 (FIG. 27A-5) can enable the particular sensor. Third examplesensor configuration 20014 (FIG. 56A) can be positioned anywhere on anelectro-mechanical agent, for example, upon extrusions that make up theframe of the electro-mechanical agent. In some configurations, multiplethird example sensor configurations 20014 (FIG. 56A) can be mountedtogether.

Referring now to FIG. 28 to FIG. 31, exemplary engagement tool 290 isdepicted. Electro-mechanical agent first example configuration 75 (FIG.3) can comprise at least one engagement tool to perform and/orcontribute in performing at least one assigned task. A plurality ofengagement tools can be provided on a single electro-mechanical agent 75(FIG. 3). The choice of engagement tools can depend on, for example, butnot limited to, the nature of the at least one assigned task and/orrestrictions on the weight and/or dimensions of electro-mechanical agentfirst example configuration 75 (FIG. 3), for example. Engagement toolscan be constructed from one or more supplementary modules of the modularconstruction kit and/or the extension modules external to the modularconstruction kit. First exemplary engaging tool 290 can include agrasping assembly. First exemplary configuration engaging tool 290, caninclude at least one set of graspers 293. Graspers 293 can comprise atleast two arms extending away from electro-mechanical agent 75 (FIG. 3)and can be configured to attain an open position and a closed position.At least one geared end 295 can be provided on one of the terminal endsof graspers 293. At least one set of arms of graspers 293 can be heldbetween a first set of grasper plates 90I (FIG. 29). Besides trappinggraspers 293, grasper plates 90I (FIG. 29) can also serve asintermediaries for engaging graspers 293 with remaining ofelectro-mechanical agent first example configuration 75 (FIG. 3).

Referring now primarily to FIG. 29, geared ends, collectively referredto as geared end 295 of grasper arms 293 can be provided on the terminalends disposed close to the electro-mechanical agent 75 (FIG. 3). Gearedends 295A and 295B can be configured to mesh such that a rotary motionof one of geared ends 295A can cause a resultant rotary motion of othergeared end 295B thereby causing first exemplary configuration engagingtool 290 to switch from an open position (depicted) to a closed positionand vice-versa. First exemplary configuration engaging tool 290 cancomprise driving gear 297 configured to mesh with any one or both ofgeared ends 295A and 295B of grasper arms 293A and 293B. Driving gear297 can receive an input rotational motion from grasper motor 315 (FIG.30) such as, for example, but not limited to, a servo-motor. Drivinggear 297 can advance the rotational motion and torque from grasper motor315 (FIG. 30) to geared ends 295A and 295B causing the required extentof opening or closing of grasper arms 293A and 293B. In someconfigurations, driving gear 297 can mesh with first geared end 295A ofgrasper arm 293A, first geared end 295A can in turn mesh with secondgeared end 295B of grasper arm 293B. Geared ends 295A and 295B can bedisposed in an offset manner to ensure an equal length of two grasperarms 293A and 293B. Grasper arms 293 can be cast out of a single moldand can reduce the manufacturing costs for the grasper arms 293 due tothe offset.

Continuing to refer primarily to FIG. 29, grabbing assembly 290 cancomprise grasper plates or grasper brackets 90I, configured to trapgrasper arms 293 by way of one or more grasper shafts 307. Grasperbrackets 90I can further comprise inner surface 310, facing trappedgrasper arms 293 and outer surface 311, facing away from grasper arms293. Grasper brackets 90I can come together to encompass spatial region308 of respective inner surfaces 310. A plurality of entry points can beprovided to spatial region 308. Geared ends 295A and 295B of grasperarms 293A and 293B can enter spatial region 308 from one of theplurality of entry points and can be trapped in spatial region 308 aftertravelling a pre-determined distance from the entry point. Grasperbrackets 90I can further include a plurality of attachment grooves 303.Grooves 303 can be configured to engage at least one set of grasperbrackets 90I with one or more elementary units 85 (FIG. 3) and/or one ormore supplementary modules and/or extension modules ofelectro-mechanical agent first exemplary configuration 75 (FIG. 3). Insome configurations, grasper brackets 303 can engage with one or moreelementary units 85 (FIG. 3) and/or one or more modules with spatialregion 308, as they also continue to trap grasper arms 293A and 293B.Elementary units 85 (FIG. 3) can be inserted in spatial region 308 anddetachably engage therebetween. A plurality of alignment nubs 305 canfurther ensure sturdy engagement between elementary units 85 (FIG. 3)with grasper brackets 90I. The plurality of alignment nubs 305 can berested in a longitudinal groove provided on elementary units 85 (FIG.3), as one or more fasteners engage elementary units 85 (FIG. 3) withgrasper brackets 90I by way of engagement grooves 303, and can furtherensure this engagement to be sturdy by providing the plurality ofalignment nubs 305 between engagement grooves 303.

Continuing to refer primarily to FIG. 29, geared ends 295A and 295B ofgrasper arms 293A and 293B can be received by at least one grasper shaft307, which can be subsequently received by shaft-engaging grooves 309provided on grasper brackets 90I. Grasper arms 293 can pivot aboutcorresponding grasper shafts 307.

Referring now primarily to FIG. 30, depict engaging tool first exemplaryconfiguration 290 is depicted in an operational mode, wherein grasperarms 293A and 293B engage target object 313. Terminal ends of grasperarms 293A and 293B can be configured to separate from one another toprovide a trapping space for at least one target object 313. The degreeof separation between the terminal ends of grasper arms 293A and 293Bcan be determined by dimensions of target object 313 and/or the numberof target objects 313 that can be trapped together at once.

Referring now primarily to FIG. 31, in some configurations, engagingtool first exemplary configuration 290 can approach target object 313,pivot grasper-arms 293A and 293B in a direction such as, for example,but not limited to, direction 316 to an extent enough to receive atleast one target object 313 between them. Grasping arms 293 can furthertravel in direction 317 (FIG. 30) to substantially trap at least onetarget object 313 and perform the assigned task with trapped object 313.Grasper arms 293A and 293B with motion in direction 317 (FIG. 30) and/orin direction 316 can be directed by the interaction of geared ends 295A(FIG. 29) and 295B (FIG. 29) with driver gear 297 (FIG. 29). Driver gear297 (FIG. 29) can be in rotary connection with grasper-motor 315 toreceive an incoming rotational motion to drive grasper arms 293A and293B. Hex cavities 305A can enable servo mounting, for example.

Referring primarily to FIG. 32A, shaft collar 330 can serve as a lockingor grasping apparatus for an exposed portion of shaft 345 (FIG. 32B). Ashaft can be coupled to one or more components by being inserted in atleast one shaft receiving-mouth provided on the one or more components.The engagement area between the shaft and one or more components can belimited to the area of the shaft-receiving mouth, thus leaving a portionof the shaft exposed. This engagement can be ruptured due to any motionof the one or more component and can cause the shaft to withdraw fromthe shaft-receiving mouth of the component. FIG. 32A depicts anenvironmental assembly 320 employing shaft collar 330. Environmentalassembly 320 is depicted as an example to discuss components of shaftcollar 330 and the method of engaging shaft collar 330 on an exposedshaft portion. Environmental assembly 320 can comprise elementary unit323 configured to receive at least one rotating module, for example, butnot limited to, at least one wheel module 328, wherein wheel module 328can be, but is not limited to being, a regular wheel or anomni-directional wheel. A plurality of connectors 325 can serve asintermediaries for engaging wheel module 328 with elementary unit 323and/or additional supplementary modules and/or extension modules. Shaft345 (FIG. 32B) can be configured to connect wheel module 328 withelementary unit 323 via intermediary connectors 325.

Referring now primarily to FIG. 32B, shaft collar 330 can be, forexample, but not limited to, a multi-part component. Shaft collar 330can be used for various geometries of shafts 345 and/or a customizedshaft collar can be built to suit specific geometry of shaft 345. Amodular construction kit can comprise, but is not limited to, hexagonalshafts 345 for constructing electro-mechanical agent 23 (FIG. 1). Insome configurations, shaft collar 330 can comprise first part 340 andsecond part 337. First part 340 can comprise head region 333 and body336. Second part 337 of shaft collar 330 can comprise locking fixture337, configured to engage body 336 of first part 337 of shaft collar330, thereby collectively forming shaft collar 330.

Referring now to FIG. 32C, the engagement of multi-part shaft collar 330with exemplary shaft 345 is depicted. Exemplary shaft 345 can be, forexample, but not limited to, a hexagonal shaft comprising six surfacesand six vertices configured to participate in its engagement with shaftcollar 330. Exemplary shaft 345 can be received into shaft channel 346provided in first part 340 of shaft collar 330. Shaft channel 346 caninitiate from head region 333 and extend along body 336 of first part340. Exemplary shaft 345 can enter shaft channel 346 from head region333 and travel through body 336 until a portion of shaft 345 exits fromthe terminal end of shaft channel 346 of shaft collar 330. A portion ofexemplary shaft 345 can be trapped by first part 340 of shaft collar330.

Continuing to refer primarily to FIG. 32C, body 336 of first part 340 ofshaft collar 330 can provide a plurality of cantilever crenellations 334protruding from head region 333 (FIG. 32C/D) and extending along body336 (FIG. 32C/D) of first part 340. Each of cantilever crenellations 334can be further configured to rest on a corresponding surface ofhexagonal shaft 345 (FIG. 32C/D) as the shaft travels along shaftchannel 346 and enters body 336 of first part 340. First cantilevercrenellation 334 can be disposed at a known gap from adjacent cantilevercrenellations 334. The known gap can enable cantilever crenellations 334to have adequate space when an inward force in direction 349 (FIG. 32D)is applied on at least one of cantilever crenellations 334. Thisconfiguration can allow cantilever crenellations 334 to compactly gripexemplary shaft 345, disposed in shaft channel 346. Locking fixture 337can participate in trapping the shaft by providing a complementing shaftchannel configured to receive body region 336 with exemplary shaft 345trapped therein. Locking fixture 337 can comprise an outer surface andinner threaded surface 348. Inner threaded surface 348 can provide aplurality of threads 347 (FIG. 32C/D) configured to engage thecrenellations on cantilever crenellations 334 as locking fixture 337progressively grips body 336 of first part 340 of shaft collar 330.Engagement of first part 340 and second part 337 of shaft collar 330 cancause crenellation 334 to be entrapped by rings 347, thereby ensuring acompact grip of exemplary shaft 345.

Referring now to FIG. 33A and FIG. 33B, connector 350 can includeconnecting grooves 357 (FIG. 33A) and can be configured to connect atleast one elementary unit 85 (FIG. 3) having access to one or moresupplementary modules and/or one or more extension modules with anotherelementary unit 85 (FIG. 3) having access to one or more supplementarymodules and/or one or more extension modules. Connector 350, exemplarilyreferred to as connector 90A (FIG. 3), can serve as an intermediary inthe engagement of at least two modules of electro-mechanical agent firstexemplary configuration 75 (FIG. 3). Connector 350 can comprise aplurality of connecting arms 351 configured to engage with one or moreconnecting modules. Connection angle 354 (FIG. 33A) can be definedbetween the plurality of connecting arms 351 of connector 350. The atleast two modules can be fastened to the plurality of connecting arms351 by way of connecting grooves 357 (FIG. 33A). The number ofconnecting arms 351 and degree of connection angle 354 (FIG. 33A) can begoverned by, for example, but not limited to, the number of modules thatcan be connected by connector 350, a distance at which connectingmodules 350 can be connected and/or the like. Support gusset 354A canstabilize connection angle 354. In some configurations, connector 350can include at least two connecting arms 351, disposed at an angle beingat least 90°, or less than 90° for acute angle connectors. Connector 350can further comprise first face 353 (FIG. 33A) and second face 355 (FIG.33B). During engagement of connecting modules, first face 353 (FIG. 33A)can be configured to receive one or more locking means to capturecomplementing fasteners that engage the component through engagementgrooves 357 (FIG. 33A). Second face 355 (FIG. 33B) can rest on one ormore connecting modules. A plurality of alignment nubs 359 (FIG. 33B)can be provided on second face 355 (FIG. 33B). Nubs 359 (FIG. 33B) canbe received in corresponding alignment grooves (not shown) that can beprovided on connecting modules. Alignment nubs 359 (FIG. 33B) can enablea substantially fail-proof engagement between the connecting modules.Spaces 359A can enable a snug fit with elementary unit 85 (FIG. 3).

Referring now to FIG. 34A and FIG. 34B, connector 360 with connectinggrooves 367 (FIG. 34A) can be configured to connect at least oneelementary unit 85 (FIG. 3) and/or one or more supplementary modulesand/or one or more extension modules, with another elementary unit 85(FIG. 3) and/or one or more supplementary modules and/or one or moreextension modules. Connector 360, shown exemplarily as connector 90C(FIG. 3), can serve as an intermediary in the engagement of at least twomodules of electro-mechanical agent first exemplary configuration 75(FIG. 3). Connector 360 can comprise a plurality of connecting arms 361configured to engage with one or more connecting modules. Connectionangle 364 can be defined between the plurality of connecting arms 361 ofconnector 360. The at least two modules can be fastened to the pluralityof connecting arms 361 by way of connecting grooves 367 (FIG. 34A). Thenumber of connecting arms 361 and degree of connection angle 364 can begoverned by, for example, but not limited to, the number of modules thatare connected by connector 360, a distance at which the connectingmodules can be connected and/or the like. In some configurations,connector 360 can include at least two connecting arms 361, disposed atan angle being at least 60 degrees. Connector 360 can further comprisefirst face 363 (FIG. 34A) and second face 365 (FIG. 34B). Duringengagement of the connecting modules, first face 363 (FIG. 34A) can beconfigured to receive one or more locking means to capture complementingfasteners that engage the component through connecting grooves 367 (FIG.34A). Second face 365 (FIG. 34B) can rest on the one or more connectingmodules. A plurality of alignment nubs 369 (FIG. 34B) can be provided onsecond face 365 (FIG. 34A). Nubs 369 (FIG. 34B) can be received incorresponding alignment grooves (not shown) that can be provided on theconnecting modules. As a result, alignment nubs 369 (FIG. 34B) canenable a substantially fail-proof engagement between the connectingmodules.

Now referring to FIG. 35A and FIG. 35B, connector 370 with connectinggrooves 377 (FIG. 35A) and configured to connect at least one elementaryunit 85 (FIG. 3) and/or one or more supplementary modules and/or one ormore extension modules, with another elementary unit 85 (FIG. 3) and/orone or more supplementary modules and/or one or more extension modules.As a result, connector 370, exemplarily referred to as connector 90C(FIG. 3), can also serve as an intermediary in the engagement of atleast two modules of electro-mechanical agent first exemplaryconfiguration 75 (FIG. 3). Connector 370 can further comprise aplurality of connecting arms 371 configured to engage with one or moreconnecting modules. Connection angle 374 can be defined between theplurality of connecting arms 371 of connector 370. The at least twomodules can be fastened to the plurality of connecting arms 371 by wayof connecting grooves 377 (FIG. 35A). The number of connecting arms 371and degree of connection angle 374 can be governed by, for example, butnot limited to, the number of modules that are connected by connector370, a distance at which the connecting modules can be connected and/orthe like. In some configurations, connector 370 can include at least twoconnecting arms 371, disposed at an angle being at least 30 degrees.Connector 370 can further comprise first face 373 (FIG. 35A) and secondface 375 (FIG. 35AB). During engagement of the connecting modules, firstface 373 (FIG. 35A) can be configured to receive one or more lockingmeans to capture complementing fasteners that engage the componentthrough connecting grooves 377 (FIG. 35A). Second face 375 (FIG. 35B)can rest on the one or more connecting modules. A plurality of alignmentnubs 379 (FIG. 35B) can be provided on second face 375 (FIG. 35B). Nubs379 (FIG. 35B) can be received in corresponding alignment grooves (notshown) that can be provided on the connecting modules. As a result,alignment nubs 379 (FIG. 35B) can enable a substantially fail-proofengagement between the connecting modules.

Now referring to FIG. 36A and FIG. 36B, connector 380 with connectinggrooves 387 (FIG. 36A) can be configured to connect at least oneelementary unit 85 (FIG. 3) and/or one or more supplementary modulesand/or one or more extension modules, with another elementary unit 85(FIG. 3) and/or one or more supplementary modules and/or one or moreextension modules. Connector 380 can also serve as an intermediary inthe engagement of at least two modules of electro-mechanical agent firstexemplary configuration 75 (FIG. 3). Connector 380 can comprise aplurality of connecting arms 381 configured to engage with one or moreconnecting modules. Connection angle 384 can be defined between theplurality of connecting arms 381 of connector 380. The at least twomodules can be fastened to the plurality of connecting arms 381 by wayof connecting grooves 387 (FIG. 36A). The number of connecting arms 381and degree of connection angle 384 can be governed by, for example, butnot limited to, the number of modules that are connected by connector380, a distance at which the connecting modules are required to beconnected and/or the like. In some configurations, connector 370comprises at least two connecting arms 381, disposed at an angle beingat least 45 degrees. Connector 380 can further comprise first face 383(FIG. 36A) and second face 385 (FIG. 36B). During engagement of theconnecting modules, first face 383 (FIG. 36A) can be configured toreceive one or more locking means to capture complementing fastenersthat engage the component through connecting grooves 387 (FIG. 36A).Second face 385 (FIG. 36B) can rest on the one or more connectingmodules. A plurality of alignment nubs 389 (FIG. 36B) can be provided onsecond face 385 (FIG. 36B). Nubs 389 (FIG. 36B) can be received incorresponding alignment grooves (not shown) that can be provided on theconnecting modules. As a result, alignment nubs 389 (FIG. 36B) canenable a substantially fail-proof engagement between the connectingmodules.

Now referring to FIG. 37A and FIG. 37B, connector 390 with connectinggrooves 397 (FIG. 37A) can be configured to connect at least oneelementary unit 85 (FIG. 3) and/or one or more supplementary modulesand/or one or more extension modules, with another elementary unit 85and/or one or more supplementary modules and/or one or more extensionmodules. As a result, connector 390 can also serve as an intermediary inthe engagement of at least two modules of electro-mechanical agent firstexemplary configuration 75 (FIG. 3). Connector 390 can further comprisea plurality of connecting arms 391 configured to engage with one or moreconnecting modules. In some configurations 390, connecting arms 391 canbe configured to form a substantially T-shaped configuration. At leastone connecting module can be received on each of connecting arms 391that form the T-configuration. In some configurations, connector 390comprises at least three connecting arms 391 configured to receive theconnecting modules. Connector 390 can further comprise first face 393(FIG. 37A) and second face 395 (FIG. 37B). During engagement, of theconnecting modules, first face 393 (FIG. 37A) can be configured toreceive one or more locking means to capture complementing fastenersthat engage the component through connecting grooves 397 (FIG. 37A).Second face 395 (FIG. 37B) can rest on the one or more connectingmodules. A plurality of alignment nubs 399 (FIG. 37B) can be provided onsecond face 395 (FIG. 37B). Nubs 399 (FIG. 37B) can be received incorresponding alignment grooves (not shown) that can be provided on theconnecting modules. As a result, alignment nubs 399 (FIG. 37B) canenable a substantially fail-proof engagement between the connectingmodules.

Now referring to FIG. 38A and FIG. 38B, connector 400 with connectinggrooves 407 (FIG. 38A) can be configured to connect at least oneelementary unit 85 (FIG. 3) and/or one or more supplementary modulesand/or one or more extension modules, with another elementary unit 85(FIG. 3) and/or one or more supplementary modules and/or one or moreextension modules. Connector 400, referred to exemplarily as connector90E (FIG. 4), can also serve as an intermediary in the engagement of atleast two modules of electro-mechanical agent first exemplaryconfiguration 75 (FIG. 3). Connector 400 can further comprise apexportion 401 and at least one arm 402, extending from apex portion 401and configured to participate in engaging the connecting modules. Apexportion 401 can comprise a plurality connecting grooves 407 of diversedimensions. Connecting grooves 407 (FIG. 38A) can be configured toreceive at least, but not limited to, one or more shafts, a fastenersubstantially engaged with the connecting module, and/or any segment ofthe connecting module configured to engage with connector 400. Arm(s)402 can comprise a plurality of similar and/or dissimilar connectinggrooves 407 (FIG. 38A). Connector 400 can further comprise first face403 (FIG. 38A) and second face 405 (FIG. 38B). In some configurations,first face 403 (FIG. 38A) can face away from the connecting moduleswhile second face 405 (FIG. 38B) can rest on the one or more connectingmodules. A plurality of alignment nubs 409 (FIG. 38B) can be provided onsecond face 405 (FIG. 38B) of connector 400. Nubs 409 (FIG. 38B) can bereceived in corresponding alignment grooves (not shown) that can beprovided on the connecting modules. Alignment nubs 409 (FIG. 38B) canenable a substantially fail-proof engagement between the connectingmodules.

Now referring to FIG. 39A and FIG. 39B, connector 410 with connectinggrooves 417 (FIG. 39B) can be configured to connect at least oneelementary unit 85 (FIG. 3) and/or one or more supplementary modulesand/or one or more extension modules, with another elementary unit 85(FIG. 3) and/or one or more supplementary modules and/or one or moreextension modules. Connector 410, referred to exemplarily as connector90F (FIG. 4), can serve as an intermediary in the engagement of at leasttwo modules of electro-mechanical agent first exemplary configuration 75(FIG. 3). Connector 410 can further comprise an apex portion and a base,extending from the apex portion and configured to participate inengaging the connecting modules. The apex portion can comprise aplurality connecting grooves 417 (FIG. 39A) of diverse dimensions.Connecting grooves 417 (FIG. 39A) can be configured to receive at least,but not limited to, one or more shafts, a fastener substantially engagedwith the connecting module and/or any segment of the connecting moduleconfigured to engage with connector 410. The base portion can comprise aplurality of similar and/or dissimilar connecting grooves 417 (FIG.39A). Connector 410 can further comprise first face 413 (FIG. 39A) andsecond face 415 (FIG. 39B). In some configurations, first face 413 (FIG.39A) can face away from the connecting modules while second face 415(FIG. 39B) can rest on the one or more connecting modules. A pluralityof alignment nubs 419 (FIG. 39B) can be provided on second face 415(FIG. 39B) of connector 410. Nubs 419 (FIG. 39B) can be received incorresponding alignment grooves (not shown) that can be provided on theconnecting modules. As a result, alignment nubs 419 (FIG. 39B) canenable a substantially fail-proof engagement between the connectingmodules.

Now referring to FIG. 40A and FIG. 40B, connector 420 (FIG. 40A) caninclude first connecting groove pattern 427 (FIG. 40A) and connector 421(FIG. 40B) can include second connecting groove pattern 425 (FIG. 40B).Connectors 420 (FIG. 40A) and 421 (FIG. 40B) can be configured toconnect at least one elementary unit 85 (FIG. 3) and/or one or moresupplementary modules and/or one or more extension modules, with anotherelementary unit 85 (FIG. 3) and/or one or more supplementary modulesand/or one or more extension modules. Connectors 420 (FIG. 40A) and 421(FIG. 40B), referred to exemplarily as connector 90H (FIG. 3), can serveas an intermediary in the engagement of at least two modules ofelectro-mechanical agent 75 (FIG. 3). First connecting groove pattern427 (FIG. 40A) and second connecting groove pattern 425 (FIG. 40B) cancomprise a plurality of connecting grooves. The connecting grooves canbe of diverse dimensions. The connecting grooves can be configured toreceive at least, but not limited to, one or more shafts, a fastenersubstantially engaged with the connecting module, and/or any segment ofthe connecting module configured to engage with connector 420 (FIG. 40A)and/or connector 421 (FIG. 40B). Connectors 420 (FIG. 40A) and 421 (FIG.40B) can further comprise first face 429 and a second face. In someconfigurations, first face 429 can face away from the connecting moduleswhile the second face can rest on the one or more connecting modules.Connectors 420 (FIG. 40A) and 421 (FIG. 40B) can comprise alignmentnubs. In some configurations, connectors 420 (FIG. 40A) and connector421 (FIG. 40B) can provide an identification space or a title space thatcan comprise an identifying name and/or logo or any other identificationattribute of electro-mechanical agent first exemplary configuration 75(FIG. 3).

Referring now to FIG. 40C, arm brace bracket 30000-008 can include, butis not limited to including, adjustable extrusion connecting cavities30000-008A that can enable flexible placement of extrusions 4B-1B (FIG.4B-1) and 4B-1C (FIG. 4B-1). Arm brace bracket 30000-008 can include endconnecting cavities 30000-008B that allow fixed placement of extrusions4B-1B (FIG. 4B-1) and 4B-1C (FIG. 4B-1) with respect to each other. Armbrace bracket 30000-008 can include dimples 30000-008C that can enableflexible placement of connectors while maintaining bracket strength andstability. Dimples 30000-008C can enable drill placements.

Referring now to FIG. 40C-1 and FIG. 40C-2, exemplary connectorembodiment 8000 can comprise a first surface 8080A and a second surface8080B. A plurality of apertures can be provided on first and secondsurfaces 8080A, 8080B, such that a single aperture can be disposedthrough and through between the two surfaces. In some configurations,apertures can be drilled out of pre-set recess or drillable holesprovided in place of through and through apertures. Connector 8000 caninclude a first set of apertures 8005 that can be distributed along theperiphery of the connector 8000. A second set of apertures can beobtained through a plurality of drillable holes 8007 that can bedistributed over surfaces 8080A and/or 8080B. Connector 8000 can beconfigured to connect at least one elementary unit 85 (FIG. 3) and/orone or more supplementary modules and/or one or more extension modules,with another elementary unit 85 (FIG. 3) and/or one or moresupplementary modules and/or one or more extension modules. Connector8000 can be engaged in a similar fashion as connector 90H (FIG. 3).

Continuing to refer to FIG. 40C-1 and FIG. 40C-2, in someconfigurations, besides the primary function of engaging two or moreelementary units 85 and/or electrical or mechanical modules, connector8000 can be further configured to serve as a base or platform forpositioning at least one module over one of its surfaces 8080A and8080B. Surfaces 8080A and 8080B can comprise one or more features toserve the purpose of acting as a base or platform for the add-on moduleand locking the module there with to avoid displacement of the moduleduring operation of the electro-mechanical agent 75 (FIG. 3). One ofmany features for achieving this can include providing at least oneindented strip support to accept one or more hook and loop fasteners(not shown) on first surface 8080A and second surface 8080B of theconnector 8000. FIG. 40C-1 and 40C-2 depict indented strip supports8010A, 8010B on surface 8080A and 8010C on indented strip support 8010Con surface 8080B. Each indented strip support 8010A, 8010B and 8010C canfurther comprise a complementing set of support slots 8020A, 8020B and8020C to entangle relevant hook and loop fasteners with the desirablesurface 8080A or 8080B.

Referring now to FIG. 40C-3 and FIG. 40C-4, an example assembly caninclude connector 8000 as a base or platform for engaging at least onemodule with surfaces 8080A and/or 8080B. In some configurations, batterypack 8040 can be engaged with surface 8080A. Battery pack 8040 can becaptured by way of hook and loop fasteners 8050A, 8050B and 8050C. Insome configurations, the fasteners can be, but are not limited to being,flexible belts configured to conveniently rest with in a pre-determineddimension of indented strips on the surface and foldable to enter slotssuch that the belt is possessed by the surface due to the indented stripand slot combinations. Indented strip supports 8010A, 8010B, and 8010Ccan receive at least a portion of corresponding fasteners stretched andrested along its length. A remaining portion of the fasteners orfastening belts 8050A, 8050B and 8050C can be looped throughcorresponding set of support slots 8020A, 8020B and 8020C. Provision ofthe indented strip supports 8010A, 8010B and 8010C in combination withthe support slots 8020A, 8020B, and 8020C can allow an engagement of thefastening features 8050A, 8050B, and 8050C with connector 8000. Thefastening features can include, but are not limited to including,flexible belts with adhesives to capture the engaged module. Velcrobelts or double sided hook and loop fasteners can be used as fasteners8050A, 8050B and 8050C. In some configurations, ties and straps can beused manually fasten the module on connector 8000. In someconfigurations, fastening can include gluing the module onto connector8000, and screw mounting the module or other mechanical engagementbetween mating surfaces of the connector and one or more module, thatare required to be mounted.

Referring now to FIG. 40C-5, an exploded view of exemplary assembly inFIGS. 40C-3 and 40C-4 can include first indented strip support 8010A andcorresponding set of support slots 8020A that can jointly engage atleast one hook and loop fastener 8050A. Second indented strip support8010B with corresponding set of support slots 8020B can jointly engagesecond hook and loop fastener 8050B, and third indented strip support8010C with corresponding set of support slots 8020C can engage thirdhook and loop fastener 8050C. Retention spaces 8021A (FIG. 40C-4) and8021B (FIG. 40C-4) can be included on indented strip support 8010C. Hookand loop fasteners that can be committed to strip supports 8010A and8010B and can be looped through corresponding slots 8020A and 8020B canoverlap the hook and loop fastener of strip support 8010C. Spaces 8021A(FIG. 40C-4) and 8021B (FIG. 40C-4) on strip support 8010C can supportsuch arrangement by retaining the overlapping portion of hook and loopfasteners of supports 8010A and 8010B. Besides overlapping feature,spaces 8021A (FIG. 40C-4) and 8021B (FIG. 40C-4) can increase frictionalretention of the hook and loop fasteners that cross over them. Spaces8021A (FIG. 40C-4) and 8021B (FIG. 40C-4) can be provided on stripsupports 8010A and 8010B, as required. Exemplary spaces 8021C can beincluded on indented strip supports 8010A and 8010B. Any number offastening features of a single connector 8000 and module engagement canbe included. In some configurations, the fastening features can besimilar or can be mechanically distinct from each other.

Referring now primarily to FIG. 41A, bolt 435 can be engaged withelementary unit 430. FIG. 41A depicts an exemplary setting to depictthis engagement by attaching connector module 433 with elementary unit430 by way of bolt 435. Elementary unit 430 can comprise at least onetrench 431 that can be configured to receive fasteners such as exemplarybolt 435 and/or segments of one or more modules with which elementaryunit 430 can engage. A portion of exemplary bolt 435 can be received intrench 431, whereas a remaining portion of bolt 435 can extend away fromelementary unit 430. The portion received by trench 431 can be referredto as head 433A (FIG. 41B) of bolt 435 whereas the portion extendingaway from elementary unit 430 can be referred as body 434 (FIG. 41B) ofbolt 435. Body 434 (FIG. 41B) can be further configured to receive oneor more connecting modules that can be trapped there upon by way of nut438. Bolt 435 can serve as a fastener in a similar and/or dissimilarsetting as depicted in FIG. 41A. In some configurations, bolt 435 can beused for fastening together one or more supplementary modules from themodular construction kit and/or one or more extension modules fromoutside the modular construction kit.

Referring primarily to FIG. 41B, head 433A of bolt 435 can comprise alongitudinal configuration of distinct dimensions and/or substantiallysimilar to at least a portion of trench 431 of elementary unit 430. Bolt435 can be inserted into trench 431 by way of head 433A, held parallelto trench 431. Due to similarity in the configuration of head 433A andtrench 431, bolt 435 can be inserted in elementary unit 430. Head 433Aof bolt 435 can be rested with trench 431 and body 434 can extendoutward from longitudinal trench 431. A change in the orientation ofbolt 435, while it is inserted in trench 431, can cause bolt 435 to betrapped inside trench 431 by way of head 433.

Referring now primarily to FIG. 41C, a plurality of stages of insertingbolt 435 into trench 431 provided in elementary unit 430 is shown. Aside view of elementary unit 430 is shown as bolt 435 is configured toenter trench 431 and trap there inside after rotating into place. Firststage 441, depicts head 433A of bolt 435 facing trench 431 and held suchthat the head configuration can be received by trench 431 without anyobstruction. Second stage 442, depicts head 433A of bolt 435 at theentrance of trench 431 such that head 433A can be at the same level asat least one flange 440 that can define an entrance to trench 431. Thirdstage 443 (FIG. 41C) depicts an insertion bolt 435 in trench 431 andheld at the same orientation at which it entered the trench. Fourthstage 444 depicts a change in orientation of bolt 435 such that head433A can be held substantially perpendicular to trench 431 of elementaryunit 430. Head 433A can be trapped between partially raised floor 446and at least one flange 440. Body 434 can be configured to extend outfrom trench 431 and can be configured to receive one or more modulesand/or connectors that can be engaged with elementary unit 430. Fifthstage 445, depicts nut 438 configured to grab body 434 that extends awayfrom trench 431, thereby locking the engagement between bolt 435 andelementary unit 430 of electro-mechanical agent first exemplaryconfiguration 75 (FIG. 3). In some configurations, a protrusion can beadded to head 433A of bolt 435 to cause it to sit flat when rested inlongitudinal trench 431 of elementary unit 430 thereby allowing theengagement to align one or more connecting modules. In otherconfigurations, body 434 of bolt 435 can further provide a thread lockerand/or a nylon patch, also referred to as an ND patch.

Referring now to FIG. 42A and FIG. 42B, first exemplary boltconfiguration 436 can include head region 450 and body 455 (FIG. 42B).Head 450 of bolt 436 can further comprise at least one firstedge-portion 451 and at least one second edge-portion 452. Dimension offirst edge-portion 451 can be distinct from dimensions of secondedge-portion 452. A plurality of first edge-portions 451 and pluralityof second edge-portions 452 can form head 450 of bolt 436. Firstexemplary bolt configuration 436 can be inserted into a trench 431 (FIG.41A) of exemplary elementary unit 430 (FIG. 41A) such that first edgeportion 451 can be disposed substantially parallel to trench 431 (FIG.41A). In some configurations, a plurality of first edge-portions 451 cancome together with a plurality of second edge-portions 452, such thathead 450 of first exemplary bolt configuration 436 can form a geometrysuch as, for example, but not limited to, a hexagonal geometry. Theadvantage of a hexagonal geometry is that a bolt of this form can stillengage with a standard hex wrench or socket. Body 455 (FIG. 42B) offirst exemplary bolt configuration 436 can extend away from head 450.First exemplary bolt configuration 436 can engage with exemplaryelementary unit 430 (FIG. 41A) by re-arranging inserted bolt 436 suchthat first edge-portion 451 can be in a perpendicular relationship withtrench 431 (FIG. 41A) of exemplary elementary unit 430 (FIG. 41A). Suchre-arrangement of bolt 436 can further cause at least one vertex 475,formed by adjacent second edge portions 452, to be in contact with sides(not shown) of longitudinal cavity 431 (FIG. 41A). In someconfigurations, contact area between head 450 of bolt 436 can comprise apart of first edge portion 451 and/or a part of second edge portion 452.

Referring now to FIGS. 43A and 43B, second exemplary bolt configuration437 can include head region 460 and body 465 (FIG. 43B). Head 460 cancomprise at least one first exteriority 461 and at least one secondexteriority 462. Dimensions of the at least one first exteriority 461can be similar or dissimilar from dimensions of at least one secondexteriority 462. In some configurations, a plurality of first edgeportion 461 and a plurality of second edge portion 462 can collectivelyform head 460. At least one first edge portion 461 and at least onesecond edge portion 462 can meet at a common point that can form vertex467 of head 460. Body 465 (FIG. 43B) of second exemplary boltconfiguration 437 can extend away from head 460. Second exemplary boltconfiguration 437 can be inserted into trench 431 (FIG. 41A) ofexemplary elementary unit 430 (FIG. 41A) such that, during insertion, atleast one first edge portion 461 can be disposed substantially parallelto trench 431 (FIG. 41A). Second exemplary bolt configuration 437 can beconfigured to engage with exemplary elementary unit 430 (FIG. 41A) byre-arranging inserted bolt 437 such that first edge-portion 461 can bein a perpendicular relationship with trench 431 (FIG. 41A) of exemplaryelementary unit 430 (FIG. 41A). Such re-arrangement of bolt 437 canfurther cause a part of at least one second edge-portion 462 to be insignificant contact with sides (not shown) of trench 431 (FIG. 41A). Insome configurations, contact area between head 460 of bolt 437 cancomprise, but is not limited to comprising, a part of first edge portion461 and/or vertex 467. At least one first edge-portion 461 and/or atleast one second edge-portion 462 can further comprise curved geometrythat can refrain portions 461, 462 from digging into extrusion sides(not shown) of exemplary elementary unit 430 (FIG. 41A).

Referring now to FIG. 44A and FIG. 44B, third exemplary boltconfiguration 438 can include head region 470 and body 475 (FIG. 44B).Head 470 can be a curved geometry comprising at least one first curvedarea 471 (FIG. 44A) and at least one second curved area 472 (FIG. 44A).In some configurations, at least one first curved area 471 and at leastsecond curved area 472 can collectively form an enclosed curved geometryof head 470. Body 475 (FIG. 44B) of third exemplary bolt configuration438 can extend away from head 470. Third exemplary bolt configuration438 can be inserted into trench 431 (FIG. 41A) of exemplary elementaryunit 430 (FIG. 41A) such that, during insertion, at least one firstcurved region 471 (FIG. 44A) can be disposed substantially parallel totrench 431 (FIG. 41A). Third exemplary bolt configuration 438 can beconfigured to engage with exemplary elementary unit 430 (FIG. 41A) byre-arranging inserted bolt 438 such that at least one first curvedregion 471 (FIG. 44A) can be in a perpendicular relationship with trench431 (FIG. 41A) of exemplary elementary unit 430 (FIG. 41A). Suchre-arrangement of bolt 438 can further cause a part of at least onesecond curved region 472 (FIG. 44A) to be in contact with sides (notshown) of trench 431 (FIG. 41A). In some configurations, contact areabetween head 470 of bolt 438 can comprise, but is not limited tocomprising, a part of the at least one first curved region 471 (FIG.44A).

Referring now to FIG. 45A and FIG. 45B, fourth configuration bolt 439can include head 480 and threaded body 485. Fourth configuration bolt439 can be inserted into trench 431 (FIG. 41C) of exemplary elementaryunit 430 (FIG. 41C) such that head 480 of bolt 439 can enter and can befollowed by threaded body 485 that can extend away from trench 431 (FIG.41C). Head 480 can extend along a length of trench 431 (FIG. 41C) suchthat side 481 (FIG. 45B) of head 480 can be parallel to sides (notshown) of trench 431 (FIG. 41C). On inserting head 480, threaded body485 can extend out of trench 431 and can be configured to receive atleast one module and/or extension module (not shown) that can be engagedwith elementary unit 430 (FIG. 41C) by way of fourth configuration bolt439. Engagement of fourth configuration bolt 439 inside trench 431 (FIG.41C) can be achieved by re-arrangement of head 480 such that side 481(FIG. 45A) of head 480 can be disposed perpendicular to at least oneside (not shown) of trench 431 of elementary unit 430. At least onelocking feature 490 (FIG. 45A) can be provided to retain fourthconfiguration bolt 439 in an engaged position with exemplary elementaryunit 430 (FIG. 41C). In some configurations, at least one lockingfeature 490 can be disposed between head 480 and threaded body 485.During engagement of fourth configuration bolt 439 and exemplaryelementary unit 430 (FIG. 41C), at least one locking feature 490 (FIG.45A) can slide and can be retained between at least one set of openingrails (not shown) that can be provided on flanges 440 (FIG. 41C) ofexemplary elementary unit 430 (FIG. 41C). Additionally, locking feature490 (FIG. 45A) can be retained between the opening rails (not shown)when fourth configuration bolt 439 is appropriately aligned andtightened in trench 431 (FIG. 41C) of exemplary elementary unit 430(FIG. 41C). Such an arrangement can forbid fourth configuration bolt 439to disorient its locked position and separate from elementary unit 430(FIG. 41C). In some configurations, at least one locking feature 490(FIG. 45A) can serve as an aligning component and can press againstflange 440 (FIG. 41C) as fourth configuration bolt 439 is engaged intrench 431 (FIG. 41C) of elementary unit 430 (FIG. 41C). Top protrusion510 (FIG. 45B) can be optionally provided on head 480 of fourthconfiguration bolt 439. Top protrusion 510 (FIG. 45B) can be disposedsuch that insertion of fourth configuration bolt 439 into trench 431(FIG. 41C) can cause top protrusion 510 (FIG. 45B) to rest on floor 447(FIG. 41C) of exemplary elementary unit 430 (FIG. 41C). Such anarrangement can cause a convenient alignment while performing anengagement between elementary unit 430 (FIG. 41) and at least one moduleand/or extension module (not shown). A geometry of at least one topprotrusion 510 (FIG. 45B) can be such that top protrusion (FIG. 45B) canbe received and disposed on floor 447 (FIG. 41C) of exemplary elementaryunit 430 (FIG. 41C).

Referring now to FIGS. 46A and 46B, motor bracket second configuration90K can engage one or more supplementary/extension modules withelementary units 85 (FIGS. 4A and 4B) and/or base frame 80 (FIGS. 4A and4B). A connecting shaft (not shown) that can belong to a supplementarymodule can be received into principal aperture 5800 from a first face5710 of motor bracket second configuration 90K thus engaging thesupplementary module therewith using, for example, a bearing. Principalaperture 5800 can be provided in first portion 5550A of motor bracketsecond configuration 90K. Second portion 5550B can further provide aplurality of connecting apertures 5750, and adequate spacing on motorbracket second configuration 90K, that can be employed for engagingmotor bracket second configuration 90K with elementary unit 85 (FIGS. 4Aand 4B) and/or base frame 80 (FIGS. 4A and 4B) or any othersupplementary module. Component/s that can be engaged with secondportion 5550B can be disposed to align with connecting apertures 5750and fastened by way of screws (not shown) that can be received therethrough. A pre-determined gap (not shown) can be maintained betweenfirst portion 5550A and second portion 5550B such that two or moreconnecting components can be accommodated without any interference. As aresult of the pre-determined gap, the connecting shaft of asupplementary module can be received from first face 5710 or second face5720 of motor bracket second configuration 90K. Motor bracket secondconfiguration 90K can include a plurality of alignment nubs 5900 thatcan rest into a matching groove (not shown) that can be provided on oneor more connecting supplementary modules, elementary units 85 (FIGS. 4Aand 4B) or base frame 80 (FIGS. 4A and 4B). This arrangement of engagingvia connecting apertures 5750 and nubs 5900 can ensure a stableconnection between motor bracket second configuration 90K and theconnecting supplementary module, elementary unit 85 (FIGS. 4A and 4B) orbase frame 80 (FIGS. 4A and 4B).

Referring now to FIG. 46C, motor pillow bracket 30000-012 can include,but is not limited to including, at least one shaft mount cavity30000-012B that can accommodate any shape shaft, for example hex shaft4B-31 (FIG. 4B-3). Multiple shafts can be mounted in shaft mountcavities 30000-012B, enabling gear alignment. The distance between holes30000-012E can vary according to the requirements of the gears used withmotor pillow bracket 30000-012. Motor pillow bracket 30000-012 caninclude various sizes of mounting cavities that can accommodate flexibleplacement of motor pillow bracket 30000-012. Motor pillow bracket30000-012 can include embedded washer features 30000-012A accommodatingmounting and bolt placement, nubs 30000-012D accommodating placement ofmotor pillow bracket 30000-12 on extrusions of the present teachings, ifnecessary, and extrusion mounting cavities 30000-012E for mounting motorpillow bracket 30000-012 slidably on an extrusion. Base 30000-012F canbe sized to enable access to screws when motor 105 (FIG. 4B-3) isinstalled.

Referring now to FIGS. 47A and 47B, servo motor 126 (FIG. 4B) can beengaged with one or more supplementary module, elementary units 85(FIGS. 4A and 4B) or base frame 80 (FIG. 4A) by way of servo connector600. A first portion 615A can be configured to partially receive servomotor 126 through frame 625. Frame 625 can be further disposed in anembedded cavity 620 of first portion 615A. Embedded cavity 620 can beconfigured to guide in receiving servo motor 126 into frame 625 andengage therewith through screw receiving apertures 630. Apertures 630can be aligned with matching apertures (not shown) of servo motor 126(FIG. 4B-4D). As previously mentioned, a part of servo motor 126 can bereceived through frame 625 and a part of remainder of servo motor 126can be accommodated into embedded cavity 620. Thus, in someconfigurations a connecting servo motor 126 (FIG. 4B) can be receivedonly from a side that contains embedded cavity 620. A second side canface away from embedded cavity 620 and can be configured to engage withanother component such as, but not limited to a supplementary/extensionmodule, an elementary unit 85 (FIGS. 4A and 4B) or base frame 80 (FIG.4A). Such an engagement can be achieved through connecting apertures 635provided therein. In some configurations, alignment of elementary unit85 during this engagement can be ensured through a plurality ofalignment nubs 636 that can complement connecting apertures 635. Asshown in FIG. 4B, servo motor 126 can be engaged with servo connector600 in more than one configuration. A first exemplary engagementconfiguration can be achieved by engaging an elementary unit 85 withsecond portion 615B through second side of servo connector 600 andaccommodating servo motor 126 into frame 625 through first side suchthat a servo shaft (FIGS. 4C and 4D) can extend away from frame 625 andsurpass a width of elementary unit 85 engaged on second side of servoconnector 600. In reference to FIG. 4B, such an exemplary engagement canallow servo shaft (not shown) to engage at least one gear (FIGS. 4B-4D).Engaged gear can be further configured to interact with one or moremeshed gears without any interference of elementary unit 85. A secondexemplary engagement configuration can be achieved by engaging anelementary unit 85 with second portion 615B through second side of servoconnector 600 and accommodating servo motor 126 into frame 625 throughfirst side such that a servo shaft (FIGS. 4C and 4D) can extend awayfrom frame 625 and can stay within a width of elementary unit 85. Suchan arrangement can allow servo shaft to interact with a shaft component135 (FIG. 4C) through an adaptor (not shown) configured to play anintermediary between the two shafts. The above mentioned interaction canbe achieved irrespective of elementary unit 85 being attached to secondportion 615B of servo connector 600.

Referring now primarily to FIGS. 48A and 48B in support with FIG. 4A.Some configurations of earlier mentioned assemblies of FIGS. 4A-FIG. 4Ecan comprise an engagement of a shaft 135 with elementary unit 85 and/orbase frame 80. Such an engagement can be achieved by bearing connector690 which is also depicted as bearing connector 90N in FIG. 4A. Bearingconnector 690 can further comprise a first portion 695A that can beconfigured to receive a shaft and a second portion 695B that can beconfigured to engage with a supplementary module, elementary unit 85(FIGS. 4A and 4B) or base frame 80 (FIG. 4A). First portion 695A canfurther comprise a substantially cylindrical bore 696 through which ashaft such as but not limited to, a cylindrical shaft or a hex shaft canbe received. Received shaft can maintain its rotational and linearfreedom of motion by providing a bearing (not shown) that can surroundthe shaft portion entering or interacting with bore 696. Second portion695B can comprise attachment points 698 configured to achieve engagementof bearing connector 690 with modules such as but not limited to,elementary unit 85. Attachment points 698 can terminate at base portion697 that can be further configured to rest on elementary unit 85. Aplurality of alignment nubs 699 can be provided on base portion 697 tocomplement with attachment points 698 and ensure an uninterruptedengagement between bearing connector 690 and a supplementary module,elementary unit 85 (FIGS. 4A and 4B) or base frame 80 (FIG. 4A).

Referring now primarily to FIGS. 49A and 49B, hex connector 650, asecond configuration of bearing connector 690, can be configured toreceive hex shafts. Hex connector 650 can comprise a first portion 660Athat can be configured to receive a shaft and a second portion 660B thatcan be configured to engage with a supplementary module, elementary unit85 (FIGS. 4A and 4B) or base frame 80 (FIG. 4A). First portion 660A canfurther comprise a substantially hex-shaped bore 665 through which ashaft such as but not limited to, a hex shaft (not shown) can bereceived. Received hex shaft can be forbidden to maintain its rotationaland/or linear freedom of motion post entering bore 665. Second portion660B can comprise attachment points 670 configured to achieve engagementof hex connector 650 with modules such as but not limited to, elementaryunit 85. Attachment points 670 can terminate at base portion 672 thatcan be further configured to rest on elementary unit 85. A plurality ofalignment nubs 675 can be provided on base portion 672 to complementwith attachment points 670 and ensure an uninterrupted engagementbetween hex connector 650 and elementary unit 85.

Referring now primarily to FIGS. 50A and 50B in support with FIG. 4E. Anacute angle connector 700 can comprise a first arm 710 configured toengage with a first supplementary module, elementary unit 85 (FIGS. 4Aand 4B) or base frame 80 (FIG. 4A) and a second arm 715 configured toengage with a second supplementary module, elementary unit 85 (FIGS. 4Aand 4B) or base frame 80 (FIG. 4A). First arm, 710 and second arm 715can be related such that the respective engaging components can be in anacute angle relationship with each other. In some configurations, afirst elementary unit 85 can be configured to engage with first arm 710and second elementary unit 85 can be configured to engage with secondarm 715. Acute angle connector 700 can further comprise an intermediatearea or spacing 720 configured to allow first elementary unit 85 andsecond elementary unit 85 to engage with connector 700 withoutinterference from each other. A plurality of attachment points 725 canbe provided such that they can initiate at a first face 700A ofconnector 700 and terminate at second face 700B. Attachment points 725can be configured to aid in engagement with elementary units 85 by wayof a screw (not shown) that can pass there through. Connector 700 canfurther provide a plurality of alignment nubs 730 that can preventconnector 700 to dislocate during its engagement with one or more afirst supplementary module, elementary unit 85 (FIGS. 4A and 4B) or baseframe 80 (FIG. 4A).

Referring now primarily to FIGS. 51A-51F in support with FIG. 4E. FIGS.51A and 51B depict a first configuration of an obtuse angle connector750. FIGS. 51C and 51D depict a second configuration of an obtuse angleconnector 770. Partial nubs 790B can enable space for extrusionconnection. FIGS. 51E and 51F depict a third configuration of an obtuseangle connector 800. Connectors 750, 770 and 800 can further comprise afirst arm 755, 780 and 815 and second arm 757, 782 and 820,respectively. First arm 755, 780, 815 and second arm 757, 782 and 820that can each be configured to engaged with at least one supplementarymodule, elementary unit 85 (FIGS. 4A and 4B) or base frame 80 (FIG. 4A).FIG. 4E depicts one of the obtuse angle connectors 750, 770 and 800 inengagement with a first elementary unit 85 and a second elementary unit85. Arms of one of the employed obtuse angle connectors 750, 770 and 800can be in an obtuse angle relationship with each other to obtain asimilar relationship between the connecting elementary units 85, in caseof FIG. 4E. First configuration of obtuse angle connector 750 canprovide a relationship of, but not limited to, 120° between its firstarm 755 and second arm 757. Second configuration of obtuse angleconnector 770 can provide a relationship of, but not limited to, 135°between its first arm 780 and second arm 782. Third configuration ofobtuse angle connector 800 can provide a relationship of, but notlimited to, 150° between its first arm 815 and second arm 820.Connectors 750, 770 and 800 can further comprise a first face 750A, 775Aand 810A and a second face 750B, 775B and 810B, respectively. First face750A, 775A and 810A can be configured to face away from connectingsupplementary module, elementary unit 85 (FIGS. 4A and 4B) or base frame80 (FIG. 4A) while second face 750B, 775B and 810B can be configured toface towards connecting supplementary module, elementary unit 85 (FIGS.4A and 4B) or base frame 80 (FIG. 4A). A plurality of connectingapertures 760, 785 and 825 can be provided to each obtuse angleconnector 750, 770 and 800, respective and that can initiate from firstface 750A, 775A and 810A and terminate at second face 750B, 775B and810B of the connectors. Connecting apertures 760, 785 and 825 can bealigned with one or more connecting supplementary module, elementaryunit 85 (FIGS. 4A and 4B) or base frame 80 (FIG. 4A) and can be fastenedtherewith through, but not limited to, fastening screws that can bereceive by connecting apertures 760, 785 and 825. Connectors 750, 770and 800 can further comprise a plurality of alignment nubs 763, 790 and825 that can be disposed over second surface 750B, 775B and 810B,respectively. Dimensions and distribution of alignment nubs 763, 790 and830 can vary from one obtuse angle connector to another to ensure anuninterrupted engagement between the connecting supplementary module,elementary unit 85 (FIGS. 4A and 4B) or base frame 80 (FIG. 4A). Firstconfiguration of obtuse angle connector 750 comprises a plurality ofalignment nubs 760 that can be disposed closer to a point of contact 751where first arm 755 meets second arm 757. Connector 750 further providesa second configuration of alignment nubs 763A configured to complementoverall engagement along with connecting apertures 760 and otheralignment nubs 763. Similarly, second configuration of obtuse angleconnector 770 can comprise a plurality of alignment nubs 790 that can beappropriately spaced from point of contact 781 where first arm 780 meetssecond arm 782. In some exemplary obtuse angle connectors, a secondconfiguration of alignment nubs 790B can employed. The secondconfiguration of alignment nubs 790B can be dimensionally trimmed ortruncated to align with connecting supplementary module, elementary unit85 (FIGS. 4A and 4B) or base frame 80 (FIG. 4A) and simultaneously avoidany engagement that interrupts connection between obtuse angle connector770 and one or more above mentioned engaging components. Alignment nubs830 of obtuse angle connector 800 can be distributed and dimensioned tofulfill a similar goal as discussed in earlier examples of obtuse angleconnectors 750 and 770.

Referring now primarily to FIGS. 52A and 52B, variable angle connector850 can be configured to engage two or more supplementary modules and/orelementary unit 85 (FIGS. 4A and 4B). A first face 855A can beconfigured to face away from at least one of connecting supplementarymodules and/or elementary unit 85 (FIGS. 4A and 4B) while a second face855B can be configured to face towards another of supplementary modulesand/or elementary unit 85 (FIGS. 4A and 4B). FIG. 4A comprises anexemplary arrangement depicting engagement of two elementary units 85through variable angle connector 850, referred to as 90R therein. Firstface 855A can comprise a substantially semi-circular aperture 870 thatcan be aligned with a matching groove/aperture (not shown) on connectingcomponent/s and an optional aligner 875 (having optional drilled cavity)that can complement this engagement. A complementing aperture 880 canalso be provided to participate in engagement along with substantiallysemi-circular aperture 870. Such an arrangement can restrict connectingcomponent/s from dislocating from their position when in engagement withconnector 850. Semi-circular aperture 870, optional aligner 875 (havingoptional drilled cavity) and complementing aperture 880 can be providedin a first portion 860 of connector 850 and can be further configured tocommit to first set of engaging components. A second portion 865 cancomprise a plurality of connecting apertures 883 that can initiate fromfirst face 855A and terminate at second face 885B. These connectingapertures 883 can be dedicated to a second set of engaging component/scomprising but not limited to one or more supplementary modules and/orelementary unit 85 (FIGS. 4A and 4B). A plurality of alignment nubs 885can be provided on second face 855B and can be further configured tocomplement connecting apertures 883. Disposition of semi-circularaperture 870 and its complementing features along in first portion 860and connecting apertures 883 along with its complementing features insecond portion 865 can allow the respective connecting components to beat a desirable angular relationship with each other. This angularrelationship can range from a 0° relationship to a 180° relationship. Insome configurations, the angular relationship can be between 30° and150°.

Referring now to FIGS. 53A and 53B in support with FIG. 4E. Insidecorner bracket 900 can comprise a first arm 910 and a second arm 912configured to engage at an angular junction 920. Bridges 915A and 915Bcan extend between first arm 910 and second arm 920 and can be disposedsubstantially parallel to each other. First arm 910, second arm 912 andbridges 915A, 915B can come together to form an interior 905A and anexterior 905B (FIG. 53B) of connector 900. A plurality of connectingapertures 925 can be provided on first arm 910 and second arm 912 andcan initiate from interior 905A to terminate at exterior 905B (FIG.53B). First arm 910 and second arm 912 can be engaged with theirrespective one or more supplementary modules and/or elementary unit 85(FIG. 4A and FIG. 4B) through connecting apertures 925 thereby allowinga engagement between the two or more connecting components. FIG. 4Edepicts a first elementary unit 85 in engagement with second elementaryunit 85 through connector 900. The connecting components, in thisexample case, the elementary units 85, can come together to form frame74 (FIG. 4E). Above discussed geometry of connector 900 can beconfigured to allow its disposition inside frame 74 thereby allowinginterior 905A to face away from the connecting components. A pluralityof alignment nubs 930 (FIG. 53B) can be provided at exterior 905B (FIG.53B) to ensure an interrupted and stable engagement between connectingcomponents such as but not limited to, one or more supplementary modulesand/or elementary unit 85 (FIG. 4A and FIG. 4B) and connector 900. Insome configurations, dimension and distribution of alignment nubs 930(FIG. 53B) can be altered to achieve the desired engagement. A secondconfiguration of alignment nubs 930A (FIG. 53B) is depicted for thispurpose. Distance 920A can enable the use of fastening tools in confinedspaces, for example, but not limited to, the use of a nut driver whenother screws are present.

Referring now to FIG. 53C, lap corner bracket 30000-018 can include baseconnection cavity 30000-018A and side connection cavities 30000-018Bthat can be used to connect extrusions 4B-1A (FIG. 4B-1) and 4B-1B (FIG.4B-1). The absence of nubs 30000-018C on surface 30000-018D can enableconnections between extrusions.

Referring now to FIG. 54A to FIG. 54D, indexable bracket 1000 caninclude, but is not limited to including, first face 1000A (FIG. 54A)and second face 1000B (FIG. 54B). Indexable bracket 1000 can includeshaft receiving aperture 1010 configured to engage at least one shaft ora similar component there through. Indexable bracket 1000 can includetwo or more slidable slots 1020 configured to participate in engagingindexable bracket 1000 with at least one elementary unit 85 (FIG. 4B-1).Such an engagement can be achieved by receiving a stem of at least onescrew through slidable slots 1020, a head of the receiving screw can beaccommodated into elongated pockets provided on elementary unit 85 (FIG.56). Second face 1000B of indexable bracket 1000 can further comprise arecessed spline 1030 configured to accommodate slidable slots 1020.

Continuing to refer to FIG. 54A to FIG. 54D, intermediate clamp 1005 canbe configured to bridge engagement between indexable bracket 1000 andelementary unit 85 (FIG. 4B-1). A first surface 1005A of intermediateclamp 1005 can engage with elementary unit 85 (FIG. 4B-1) and a secondsurface 1005B can engage with second face 1000B of indexable bracket1000 (FIG. 54A-54B). Mating of second surface 1005B of intermediateclamp 1005 and second face 1000B of indexable bracket 1000 can beobtained by providing complementing recessed spline 1033 on secondsurface 1005B of intermediate clamp 1005. Second surface 1005B canfurther provide two or more screw slots 1040 that can coincide withslidable slots 1020 of indexable clamp 1000. Intermediate clamp 1005 canbe variably accommodated along a length of recessed spline 1030 ofindexable bracket 1000. As a result of this feature one or more modulesengaged with elementary unit 85 (FIG. 4B-1) through indexable bracket1000 and intermediate clamp 1005, can be disposed at more than onepositions with respect to elementary unit 85. Once fastened, engagedmodule can be easily adjusted by unscrewing and sliding indexablebracket 1000 to a desirable height. First surface 1005A can furthercomprise nodules 1050 configured to be accommodated into elongatedpocket of elementary unit 85 (FIG. 4B-1) Nodules 1050 can be spaced toavoid interference with functioning of screw slots 1040. In someconfigurations, terminating ends of nodules 1050 can be curved to adjustT-slot screws that have been previously discussed in this application.Recesses 1005C can enable collision avoidance with motor andpotentiometer mounting screws, for example. Discreet heights that can beachieved with recessed spline 1033 can be used for alignment.

Referring to FIGS. 55A and 55B, transfer of torque from one module toanother can be achieved through mechanical coupling. The mechanicalcoupling can be compact and can maintain a high tolerance duringoperation of electro-mechanical agent 75 (FIG. 3). The mechanicalcoupling can be immune to external impacts caused during operation ornon-operation of electro-mechanical agent 75 (FIG. 3), and can maintainthe desirable torque transfer. Desirable transfer of torque from a shaftto a wheel, sprocket, gear, pulley or any similar component can requirethe use of efficient mechanical coupling with at least thecharacteristics described elsewhere herein. Adaptor 9000 can beconfigured to engage with hubs of mechanical modules such as but notlimited to, wheels, including omni-wheels, gears, sprockets, andpulleys, of electro-mechanical agent 75 (FIG. 3). Adaptor 9000 cancomprise a body 9005 that can be generally disc-shaped, and raisedcylindrical portion 9010. Body 9005 can comprise first face 9005A andsecond face 9005B. First face 9005A can be oriented towards one of theengaging modules, such as wheels, sprockets, gears, pulleys, etc., whilesecond face 9005B can be oriented towards a shaft or similar mechanicalmodule. Second face 9005B can further comprise cylindrical raisedportion 9010 configured to provide a bore 9020. In some configurations,bore 9020 can accept a regular cylindrical shaft. Hex bore 9020 canreceive a hex shaft there through. Shaft (not shown), whether hex orcylindrical, can enter adaptor 9000 through one of the two faces 9005Aand 9005B, and can exit the adaptor from the other of the other of twofaces 9005A and 9005B. First face 9005A can comprise at least oneprojection 9015 configured to be received into a housing (not shown) inthe engaging module such as, but not limited to wheels, sprockets,gears, pulleys, etc. Raised surface 9013 can serve as a thrust bearingagent during operation of electro-mechanical agent 75 (FIG. 3).

Referring now to FIG. 55C and FIG. 55D, exemplary assembly 9050 canenable the transfer of torque using adaptor 9000 from one module toanother. Assembly 9050 can include more than one combination of modulesfor engagement and transfer of torque there between, as a resultemploying at least one adaptor 9000 for each of those combinations.Shaft 9030 can support exemplary traction wheel 2006-001 and examplegear 3002-006. Adaptor 9000 can be employed at each junction where shaft9030 meets and exits the wheel 2006-001 and/or gear 3002-006. Wheel2006-001 and gear 3002-006 can comprise a central region with a pre-sethole pattern, as discussed elsewhere herein. Projection 9015 can beconstructed to align with the pre-set hole pattern of gear 3002-006 orwheel 2006-001 or any other module that is to be engaged with shaft9030. First surface 9000A can provide one or more projections 9015 suchthat they are aligned to be received into at least one of the holes ofthe pre-set hole pattern. Adaptor 9000 can provide apertures 9017 thatcan be disposed on surface 9005A such that they can align with thepre-set holes and allow engagement with modules, in this case the wheeland the gear, through a fastener that can be received there through.Holes 9017 can be configured to align with module from outside of thekit discussed elsewhere herein. An exemplary module from outside the kitcan be, but not limited to being a module from a TETRIX® robotics kit orany other robotic kit in market. In some configurations, a screw and nutfastening between adaptor 9000 and the engaging module can be included.In some configurations, holes 9017 can be threaded and can be configuredto accept screws such as, but not limited to M3 screws. Exemplary shaft9030 can be received and rested within bore 9020 of adaptor 9000. Firstsurface 9005A can comprise an optional indent 9025 for allowing anun-interrupted mating with a hub of the engaging module. The pre-senthole pattern of the present teachings can comprise a raised peripherysurrounding the corresponding bore of the wheels, gears, sprockets,pulleys, etc., that are configured to receive a regular or hex shaft.First surface 9005A can be constructed to receive the raised portion ofthe engaging module into indent 9025 along with trapping its projections9015 into at least one of the holes belonging to the pre-set holepattern of the engaging module.

Referring now to FIGS. 56A, 56B, 57A, and 57B, exemplary configurationsof electro-mechanical agents 1100 and 1200 can comprise a plurality ofelectrical and mechanical modules discussed in earlier sections of thisapplication. Exemplary electro-mechanical agents 1100 and 1200 cancomprise configurations of modules different from those depicted inagent 75 (FIG. 3). It should be noted that more than one configurationof a module can be employed in a common electro-mechanical agent.Various combinations of suitable module configurations can be used toconstruct an electro-mechanical agent that can fulfill desirable tasksor carry out user-defined actions. Exemplary agents 1100 and 1200 can becategorized as a less sophisticated agent with less number of movingparts. However, agent 1100 can be built upon as required by a user.Agent 1100 can comprise mobility modules that can include, but notlimited to traction wheels 2006-005 and omni-directional wheels 7000.Mobility modules can enable a forward and backward movement of agent1100. Presence of omni-directional wheels 7000 can allow a smoothside-ways travel capability for agent 1100. Detailed discussion onwheels 7000 can be located through FIG. 6U-1 to FIG. 6U-15 and therelevant description. It should be noted that disposition or placementof omni-directional wheel 7000 or its configurations, can provide aholonomic drive to exemplary agent 1100. An example of an alternativedisposition of mobility module 6006, a configuration of module 7000, canbe illustrated through FIG. 57A and FIG. 57B and agent 1200 therein.

Continuing to refer to FIGS. 56A, 56B, 57A, and 57B, agent 1100 cancomprise connector 8000 configured to engage elementary units 85 to forma base structure of agent 1100. Connector 1100 can further serve as abase platform for at least one module to rest or retained thereupon.Detailed discussion on connector 8000 can be obtained through FIGS.40C-1 to 40C-5 and the relevant description of this application. Agent1100 can further comprise an exemplary controller module 4004 that canserve as a brain of agent 1100 and can further comprise at least onecomputer programmable controller and at least one hardware controller.Exemplary gear motor enclosure 5000 with gear motor 2000A (FIG. 15C-1)therein can engage with at least one movable module of agent 1100. Gearmotor 2000A (FIG. 15C-1) can be engaged, but not limited to beingengaged with exemplary traction wheels 2006-005 for a desirable motionof agent 1100. An elaborated discussion on above mentioned exemplarygear motor can be obtained through FIG. 15A to FIG. 15I and the relevantdescription of this specification.

Configurations of the present teachings are directed to computer systemsfor accomplishing the methods discussed in the description herein, andto computer readable media containing programs for accomplishing thesemethods. The raw data and results can be stored for future retrieval andprocessing, printed, displayed, transferred to another computer, and/ortransferred elsewhere. Communications links can be wired or wireless,for example, using cellular communication systems, militarycommunications systems, and satellite communications systems. Parts ofthe system can operate on a computer having a variable number of CPUs.Other alternative computer platforms can be used.

The present configuration is also directed to software for accomplishingthe methods discussed herein, and computer readable media storingsoftware for accomplishing these methods. The various modules describedherein can be accomplished on the same CPU, or can be accomplished on adifferent computer. In compliance with the statute, the presentconfiguration has been described in language more or less specific as tostructural and methodical features. It is to be understood, however,that the present configuration is not limited to the specific featuresshown and described, since the means herein disclosed comprise preferredforms of putting the present configuration into effect.

Methods can be, in whole or in part, implemented electronically. Signalsrepresenting actions taken by elements of the system and other disclosedconfigurations can travel over at least one live communications network.Control and data information can be electronically executed and storedon at least one computer-readable medium. The system can be implementedto execute on at least one computer node in at least one livecommunications network. Common forms of at least one computer-readablemedium can include, for example, but not be limited to, a floppy disk, aflexible disk, a hard disk, magnetic tape, or any other magnetic medium,a compact disk read only memory or any other optical medium, punchedcards, paper tape, or any other physical medium with patterns of holes,a random access memory, a programmable read only memory, and erasableprogrammable read only memory (EPROM), a Flash EPROM, or any othermemory chip or cartridge, or any other medium from which a computer canread. Further, the at least one computer readable medium can containgraphs in any form, subject to appropriate licenses where necessary,including, but not limited to, Graphic Interchange Format (GIF), JointPhotographic Experts Group (JPEG), Portable Network Graphics (PNG),Scalable Vector Graphics (SVG), and Tagged Image File Format (TIFF).

While the present teachings have been described above in terms ofspecific configurations, it is to be understood that they are notlimited to these disclosed configurations. Many modifications and otherconfigurations will come to mind to those skilled in the art to whichthis pertains, and which are intended to be and are covered by both thisdisclosure and the appended claims. It is intended that the scope of thepresent teachings should be determined by proper interpretation andconstruction of the appended claims and their legal equivalents, asunderstood by those of skill in the art relying upon the disclosure inthis specification and the attached drawings.

What is claimed is:
 1. A kit for constructing an electro-mechanicalagent configured to achieve one or more pre-determined tasks, the kitcomprising: at least one rail structure having a plurality of surfaces,each of the plurality of surfaces including a pre-defined slot pattern,the pre-defined slot pattern receiving at least one fastener; at leastone unit including at least one of the at least one rail structures, theat least one unit forming a support structure for at least one module;at least one connector operably coupling the at least one unit to the atleast one module, the connector including a first surface and a secondsurface, the first surface including a plurality of protrusions operablycoupling with at least one of the at least four surfaces in thepre-defined slot pattern, the second surface including at least one holereceiving the at least one fastener, the second surface operablycoupling with at least one portion of the at least one module; at leastone user interface receiving commands from a user; at least onecommunicator receiving and interpreting the commands through at leastone communications network, the at least one communicator receiving datarelated to the at least one module, the at least one communicatortransmitting the data to the at least one user interface through thecommunications network; at least one controller receiving theinterpreted commands, the at least one controller controlling the atleast one module based at least on the interpreted commands; and atleast one power source providing power to the at least one controller,the at least one communicator, and the at least one module, wherein theelectro-mechanical agent includes at least one of the at least one unit.2. The kit as in claim 1 wherein the at least one user interfacecomprises: a device including at least one user input means and at leastone display means.
 3. The kit as in claim 1 wherein the at least onerail structure comprises an extrusion.
 4. The kit as in claim 1 whereinthe at least one connector comprises a variable angle connector, thevariable angle connector including at least one semi-circular apertureaccommodating variable angle connections and a complementing aperture.5. The kit as in claim 1 wherein the at least one connector comprises anindexable connector, the indexable connector including a first pieceincluding a first splined surface and an opposite planar surface, thefirst piece including apertures to receive fasteners, the indexableconnector including a second piece variably engaging with the firstpiece, the second piece including a top portion and a bottom portion,the top portion including a hole pattern, the bottom portion having atleast one slot and a second splined surface complementarily mating withthe first threaded surface.
 6. The kit as in claim 5 wherein the atleast one connector comprises a servo motor connector, the servo motorconnector including an embedded cavity receiving a servo motor, a framewithin the embedded cavity housing the servo motor, peripheral aperturesalong the peripheral of the frame accommodating the servo motor,alignment nubs, and connecting apertures associated with the alignmentnubs.
 7. The kit as in claim 1 wherein the at least one connectorcomprises a variable angle connector, the variable angle connectorincluding a first portion and a second portion, the first portionincluding at least one semi-circular aperture and a complementingaperture, the second portion including a plurality of connectingapertures associated with a plurality of alignment nubs.
 8. The kit asin claim 1 where the at least one connector comprises a plate, the plateincluding a pattern of dimples, the dimples enabling drilling ofmounting points on the plate, the plate including at least twoconverging slots, the at least two converging slots including openingsat points where the at least two converging slots intersect.
 9. The kitas in claim 1 wherein the at least one module comprises: a hole patternenabling compatibility with others of the at least one module in thekit; and a hex shaft enabling connectivity with others of the at leastone module in the kit.
 10. The kit as in claim 1 further comprising: agear motor enclosure accommodating multiple gear configurations.
 11. Akit for constructing an electro-mechanical agent configured to achieveone or more pre-determined tasks, the kit comprising: at least one railstructure having a plurality of surfaces, each of the plurality ofsurfaces including a pre-defined slot pattern, the pre-defined slotpattern receiving at least one fastener; at least one unit including atleast one of the at least one rail structures, the at least one unitforming a support structure for at least one module; at least oneconnector operably coupling the at least one unit to the at least onemodule, the connector including a first surface and a second surface,the first surface including a plurality of protrusions operably couplingwith at least one of the at least four surfaces in the pre-defined slotpattern, the second surface including at least one hole receiving the atleast one fastener, the second surface operably coupling with at leastone portion of the at least one module; at least one communicatorreceiving and interpreting the commands through at least onecommunications network, the at least one communicator receiving datarelated to the at least one module, the at least one communicatortransmitting the data to the at least one user interface through thecommunications network; at least one controller receiving theinterpreted commands, the at least one controller controlling the atleast one module based at least on the interpreted commands; and atleast one power source providing power to the at least one controller,the at least one communicator, and the at least one module, wherein theelectro-mechanical agent includes at least one of the at least one unit.12. The kit as in claim 11 wherein the at least one rail structurecomprises an extrusion.
 13. The kit as in claim 11 wherein the at leastone connector comprises an indexable connector, the indexable connectorincluding a first piece including a first splined surface and anopposite planar surface, the first piece including apertures to receivefasteners, the indexable connector including a second piece variablyengaging with the first piece, the second piece including a top portionand a bottom portion, the top portion including a hole pattern, thebottom portion having at least one slot and a second splined surfacecomplementarily mating with the first threaded surface.
 14. The kit asin claim 13 wherein the at least one connector comprises a servo motorconnector, the servo motor connector including an embedded cavityreceiving a servo motor, a frame within the embedded cavity housing theservo motor, peripheral apertures along the peripheral of the frameaccommodating the servo motor, alignment nubs, and connecting aperturesassociated with the alignment nubs.
 15. The kit as in claim 11 whereinthe at least one connector comprises a variable angle connector, thevariable angle connector including a first portion and a second portion,the first portion including at least one semi-circular aperture and acomplementing aperture, the second portion including a plurality ofconnecting apertures associated with a plurality of alignment nubs. 16.The kit as in claim 11 where the at least one connector comprises aplate, the plate including a pattern of dimples, the dimples enablingdrilling of mounting points on the plate, the plate including at leasttwo converging slots, the at least two converging slots includingopenings at points where the at least two converging slots intersect.17. A modular construction kit comprising: a base including at least oneextrusion; at least one mechanical component attached, by a first atleast one connector, to the base, the first at least one connectorincluding an indexable bracket; at least one electrical componentattached, by a second at least one connector, to the base; at least onecontroller enclosure attached, by a third at least one connector, to thebase, the at least one controller enclosure including at least onecommunications system and at least one controller module, wherein the atleast one controller module directs the at least one electricalcomponent to move the at least one mechanical component according tocommands received by the at least one communications system.
 18. Themodular construction kit as in claim 17 wherein the indexable connectorcomprises a first piece including a first splined surface and anopposite planar surface, the first piece including apertures to receivefasteners, the indexable connector including a second piece variablyengaging with the first piece, the second piece including a top portionand a bottom portion, the top portion including a hole pattern, thebottom portion having at least one slot and a second splined surfacecomplementarily mating with the first threaded surface.
 19. The modularconstruction kit as in claim 17 further comprising at least one sensorenclosure attached, by at least one fourth at least one connector, tothe base, the at least one sensor enclosure including at least onesensor, the at least one sensor sensing the environment in the vicinityof the modular construction kit.
 20. The modular construction kit as inclaim 17 further comprising at least one shaft collar attaching the atleast one mechanical component to the base, the shaft collar including afirst part and a second part, the first part including a head region anda body, the second part including a locking fixture engaging the body,the body including cantilever crenellations protruding from the headregion, the locking fixture including a plurality of rings engaging thecrenellations.